128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 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 | 44.5s | 161 warnings · 19116 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911626 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911626 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437816 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482505 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482505 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789503594.89040756 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454752 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454752 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_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: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789503595.50722671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.37sINFOros2_control_node[2026-09-15 20:19:55.672] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-15 20:19:55.672] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594506 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594506 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118524 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118524 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735938 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735938 ms (missed cycles : 2).[0m ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal ×3142 + 6.82sINFOjoint_trajectory_controllerAccepted new action goal ×3142 + 6.82sINFOros2_control_nodeReceived new action goal[0m ×6284 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×6284 + 7.27sWARNros2_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 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135297 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135297 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695231 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695231 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298985 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298985 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838332 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838332 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421355 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421355 ms (missed cycles : 2).[0m ×2 + 11.71sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.71sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.71sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.71sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.71sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078329 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078329 ms (missed cycles : 4).[0m ×2 + 13.46sWARNros2_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 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785203 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785203 ms (missed cycles : 2).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052559 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052559 ms (missed cycles : 3).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682565 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682565 ms (missed cycles : 2).[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151761 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151761 ms (missed cycles : 2).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475209 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475209 ms (missed cycles : 2).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3).[0m ×2 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534866 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534866 ms (missed cycles : 2).[0m ×2 + 20.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805598 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805598 ms (missed cycles : 2).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031087 ms (missed cycles : 4). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031087 ms (missed cycles : 4).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794344 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794344 ms (missed cycles : 2).[0m ×2 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872033 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872033 ms (missed cycles : 3).[0m ×2 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331081 ms (missed cycles : 6). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331081 ms (missed cycles : 6).[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643146 ms (missed cycles : 4). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643146 ms (missed cycles : 4).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262719 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262719 ms (missed cycles : 2).[0m ×2 + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081314 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081314 ms (missed cycles : 2).[0m ×2 + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387865 ms (missed cycles : 6). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387865 ms (missed cycles : 6).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973988 ms (missed cycles : 2). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973988 ms (missed cycles : 2).[0m ×2 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018398 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018398 ms (missed cycles : 2).[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769785 ms (missed cycles : 2). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769785 ms (missed cycles : 2).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133650 ms (missed cycles : 2). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133650 ms (missed cycles : 2).[0m ×2 + 34.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×4 + 34.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518562 ms (missed cycles : 2). + 34.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518562 ms (missed cycles : 2).[0m ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879931 ms (missed cycles : 4). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879931 ms (missed cycles : 4).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718364 ms (missed cycles : 3). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718364 ms (missed cycles : 3).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509103 ms (missed cycles : 4). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509103 ms (missed cycles : 4).[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989498 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989498 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802976 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802976 ms (missed cycles : 2).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473787 ms (missed cycles : 2). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473787 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351733 ms (missed cycles : 6). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351733 ms (missed cycles : 6).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494677 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494677 ms (missed cycles : 3).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677673 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677673 ms (missed cycles : 2).[0m ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083238 ms (missed cycles : 2). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083238 ms (missed cycles : 2).[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126070 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126070 ms (missed cycles : 2).[0m ×2 + 46.36sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601292 ms (missed cycles : 4). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601292 ms (missed cycles : 4).[0m ×2 + 47.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503639.39623785 seconds ×3 + 47.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.64sINFOobjective_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: ""
+ 47.64sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789503640.05059171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.77sINFOobjective_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 + 47.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.87sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 47.87sINFOros2_control_node[2026-09-15 20:20:40.174] [info] Received new action goal ×2 + 47.87sINFOros2_control_node[2026-09-15 20:20:40.174] [info] Accepted new action goal ×2 + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721969 ms (missed cycles : 2). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721969 ms (missed cycles : 2).[0m ×2 + 48.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703273 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703273 ms (missed cycles : 2).[0m ×2 + 50.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895435 ms (missed cycles : 2). + 50.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895435 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 157 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 ×4 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 7.04sINFOros2_control_node[2026-09-15 20:19:03.751] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-09-15 20:19:03.751] [info] Accepted new action goal ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851881 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851881 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132222 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132222 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044502 ms (missed cycles : 4). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044502 ms (missed cycles : 4).[0m ×2 + 10.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.34sINFOros2_control_node[2026-09-15 20:19:07.051] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-09-15 20:19:07.051] [info] Accepted new action goal ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764468 ms (missed cycles : 4). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764468 ms (missed cycles : 4).[0m ×2 + 11.75sWARNros2_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 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777473 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777473 ms (missed cycles : 2).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.37sINFOros2_control_node[2026-09-15 20:19:10.075] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-09-15 20:19:10.075] [info] Accepted new action goal ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024867 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024867 ms (missed cycles : 3).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909425 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909425 ms (missed cycles : 5).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212139 ms (missed cycles : 5). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212139 ms (missed cycles : 5).[0m ×2 + 16.33sINFOobjective_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 + 16.33sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.33sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.33sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.33sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204676 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204676 ms (missed cycles : 2).[0m ×2 + 17.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702789 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702789 ms (missed cycles : 2).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503571 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503571 ms (missed cycles : 2).[0m ×2 + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837173 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837173 ms (missed cycles : 2).[0m ×2 + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084885 ms (missed cycles : 2). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084885 ms (missed cycles : 2).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624435 ms (missed cycles : 3). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624435 ms (missed cycles : 3).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990831 ms (missed cycles : 4). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990831 ms (missed cycles : 4).[0m ×2 + 23.94sINFOobjective_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 + 23.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.94sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.94sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.95sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.95sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264418 ms (missed cycles : 5). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264418 ms (missed cycles : 5).[0m ×2 + 24.59sWARNros2_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 + 24.83sINFOros2_control_node[2026-09-15 20:19:21.535] [info] Received new action goal ×2 + 24.83sINFOros2_control_node[2026-09-15 20:19:21.535] [info] Accepted new action goal ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838584 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838584 ms (missed cycles : 3).[0m ×2 + 26.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.02sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671517 ms (missed cycles : 2). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671517 ms (missed cycles : 2).[0m ×2 + 26.36sINFOros2_control_node[2026-09-15 20:19:23.069] [info] Received new action goal ×2 + 26.36sINFOros2_control_node[2026-09-15 20:19:23.069] [info] Accepted new action goal ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705939 ms (missed cycles : 3). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705939 ms (missed cycles : 3).[0m ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357258 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357258 ms (missed cycles : 2).[0m ×2 + 28.67sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 28.67sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.69sINFOros2_control_node[2026-09-15 20:19:25.396] [info] Received new action goal ×2 + 28.69sINFOros2_control_node[2026-09-15 20:19:25.396] [info] Accepted new action goal ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237358 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237358 ms (missed cycles : 2).[0m ×2 + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894543 ms (missed cycles : 2). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894543 ms (missed cycles : 2).[0m ×2 + 30.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245351 ms (missed cycles : 5). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245351 ms (missed cycles : 5).[0m ×2 + 31.83sINFOros2_control_node[2026-09-15 20:19:28.536] [info] Received new action goal ×2 + 31.83sINFOros2_control_node[2026-09-15 20:19:28.536] [info] Accepted new action goal ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749533 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749533 ms (missed cycles : 3).[0m ×2 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030898 ms (missed cycles : 3). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030898 ms (missed cycles : 3).[0m ×2 + 34.42sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 34.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.48sINFOros2_control_node[2026-09-15 20:19:31.190] [info] Received new action goal ×2 + 34.48sINFOros2_control_node[2026-09-15 20:19:31.190] [info] Accepted new action goal ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635119 ms (missed cycles : 2). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635119 ms (missed cycles : 2).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834648 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834648 ms (missed cycles : 2).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500287 ms (missed cycles : 5). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500287 ms (missed cycles : 5).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253709 ms (missed cycles : 5). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253709 ms (missed cycles : 5).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264293 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264293 ms (missed cycles : 2).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641959 ms (missed cycles : 5). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641959 ms (missed cycles : 5).[0m ×2 + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065357 ms (missed cycles : 5). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065357 ms (missed cycles : 5).[0m ×2 + 41.95sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622519 ms (missed cycles : 3). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622519 ms (missed cycles : 3).[0m ×2 + 42.83sWARNros2_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 + 43.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569296 ms (missed cycles : 3). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569296 ms (missed cycles : 3).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736689 ms (missed cycles : 2). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736689 ms (missed cycles : 2).[0m ×2 + 45.20sINFOros2_control_node[2026-09-15 20:19:41.910] [info] Received new action goal ×2 + 45.20sINFOros2_control_node[2026-09-15 20:19:41.910] [info] Accepted new action goal ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.164074 ms (missed cycles : 6). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.164074 ms (missed cycles : 6).[0m ×2 + 46.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789503583.06659269 seconds ×3 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542168 ms (missed cycles : 5). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542168 ms (missed cycles : 5).[0m ×2 + 46.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.96sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.17sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789503583.87860537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997131 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997131 ms (missed cycles : 2).[0m ×2 + 48.40sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 48.42sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.43sINFOros2_control_node[2026-09-15 20:19:45.143] [info] Received new action goal ×2 + 48.43sINFOros2_control_node[2026-09-15 20:19:45.143] [info] Accepted new action goal ×2 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827947 ms (missed cycles : 3). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827947 ms (missed cycles : 3).[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848707 ms (missed cycles : 3). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848707 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 | 89 warnings · 13140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2157 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2157 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4314 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4314 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083238 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083238 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126070 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126070 ms (missed cycles : 2).[0m ×2 + 2.43sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601292 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601292 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503639.39623785 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789503640.05059171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.94sINFOros2_control_node[2026-09-15 20:20:40.174] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-15 20:20:40.174] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721969 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721969 ms (missed cycles : 2).[0m ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703273 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703273 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_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 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895435 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895435 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042171 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042171 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954551 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954551 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624231 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624231 ms (missed cycles : 2).[0m ×2 + 9.53sWARNros2_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 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812686 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812686 ms (missed cycles : 2).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017722 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017722 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024699 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024699 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015248 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015248 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254389 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254389 ms (missed cycles : 2).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795144 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795144 ms (missed cycles : 2).[0m ×2 + 16.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197528 ms (missed cycles : 5). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197528 ms (missed cycles : 5).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986031 ms (missed cycles : 3). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986031 ms (missed cycles : 3).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.355798 ms (missed cycles : 6). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.355798 ms (missed cycles : 6).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919416 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919416 ms (missed cycles : 2).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151695 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151695 ms (missed cycles : 2).[0m ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 23.51sWARNros2_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 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 25.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 25.90sINFOobjective_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: ""
+ 25.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 26.19sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 26.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.20sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 26.20sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 3 errors · 54 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355976 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355976 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.37sINFOobjective_server_nodeFound path in 1 iterations (0.00342737 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.65sINFOros2_control_node[2026-09-15 20:18:41.852] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-15 20:18:41.852] [info] Accepted new action goal ×2 + 1.08sINFOros2_control_node[2026-09-15 20:18:42.284] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-09-15 20:18:42.284] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297377 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297377 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOros2_control_node[2026-09-15 20:18:43.526] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-15 20:18:43.526] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503523.53531790 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483579 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483579 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789503524.19432855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.11sINFOros2_control_node[2026-09-15 20:18:44.318] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-15 20:18:44.318] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634982 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634982 ms (missed cycles : 2).[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039751 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039751 ms (missed cycles : 5).[0m ×2 + 5.61sINFOros2_control_node[2026-09-15 20:18:46.813] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-09-15 20:18:46.813] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331778 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331778 ms (missed cycles : 4).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037548 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037548 ms (missed cycles : 2).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145826 ms (missed cycles : 5). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145826 ms (missed cycles : 5).[0m ×2 + 9.07sWARNros2_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 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919513 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919513 ms (missed cycles : 3).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817403 ms (missed cycles : 3). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817403 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.272062 ms (missed cycles : 8). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.272062 ms (missed cycles : 8).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4).[0m ×2 + 14.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789503535.38575625 seconds ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3).[0m ×2 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 14.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789503536.05495262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.89sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789503536.11507058 seconds ×3 + 15.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.45sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.51sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.61sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.62sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 15.62sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 17.63sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569296 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569296 ms (missed cycles : 3).[0m ×2 + 0.81sINFOobjective_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 + 0.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.81sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.81sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.81sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.81sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736689 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736689 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.70sINFOros2_control_node[2026-09-15 20:19:41.910] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-09-15 20:19:41.910] [info] Accepted new action goal ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.164074 ms (missed cycles : 6). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.164074 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789503583.06659269 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542168 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542168 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Push Button" ×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 + 3.67sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789503583.87860537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997131 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997131 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.93sINFOros2_control_node[2026-09-15 20:19:45.143] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-09-15 20:19:45.143] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827947 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827947 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848707 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848707 ms (missed cycles : 3).[0m ×2 + 7.13sWARNros2_control_nodeCamera render tick took 1.03 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 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139712 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139712 ms (missed cycles : 2).[0m ×2 + 8.63sINFOobjective_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 + 8.63sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.63sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.63sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.63sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540521 ms (missed cycles : 6). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540521 ms (missed cycles : 6).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732887 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732887 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256101 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256101 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.07sINFOros2_control_node[2026-09-15 20:19:51.285] [info] Received new action goal ×2 + 11.07sINFOros2_control_node[2026-09-15 20:19:51.285] [info] Accepted new action goal ×2 + 11.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911626 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911626 ms (missed cycles : 2).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437816 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437816 ms (missed cycles : 4).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482505 ms (missed cycles : 5). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482505 ms (missed cycles : 5).[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789503594.89040756 seconds ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454752 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454752 ms (missed cycles : 3).[0m ×2 + 15.23sINFOobjective_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: ""
+ 15.23sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789503595.50722671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.46sINFOros2_control_node[2026-09-15 20:19:55.672] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-09-15 20:19:55.672] [info] Accepted new action goal ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594506 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594506 ms (missed cycles : 2).[0m ×2 + 16.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118524 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118524 ms (missed cycles : 2).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735938 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735938 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 55 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.75sINFOobjective_server_nodecaller: ×8 + 2.75sINFOobjective_server_nodetype: 0 ×8 + 2.75sINFOobjective_server_nodename: "" ×8 + 2.75sINFOobjective_server_nodeinstance_id: "" ×8 + 2.75sINFOobjective_server_node ×8 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263974 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263974 ms (missed cycles : 2).[0m ×2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 1 iterations (0.00364832 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.59sINFOros2_control_node[2026-09-15 20:18:04.571] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-15 20:18:04.571] [info] Accepted new action goal ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227794 ms (missed cycles : 4). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227794 ms (missed cycles : 4).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321606 ms (missed cycles : 6). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321606 ms (missed cycles : 6).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102643 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102643 ms (missed cycles : 4).[0m ×2 + 10.89sINFOros2_control_node[2026-09-15 20:18:06.874] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-09-15 20:18:06.874] [info] Accepted new action goal ×2 + 11.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 12.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.72sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 12.72sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 14.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 15.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 15.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.47sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642058 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642058 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128686 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128686 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.65sINFOros2_control_node[2026-09-15 20:17:46.645] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-09-15 20:17:46.645] [info] Accepted new action goal ×2 + 2.02sINFOobjective_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 + 2.03sINFOros2_control_node[2026-09-15 20:17:47.021] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-09-15 20:17:47.021] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1789503467.03749514 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119192 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119192 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.58sINFOobjective_server_nodecaller: ×6 + 2.58sINFOobjective_server_nodetype: 0 ×6 + 2.58sINFOobjective_server_nodename: "" ×6 + 2.58sINFOobjective_server_nodeinstance_id: "" ×6 + 2.58sINFOobjective_server_node ×6 + 2.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789503467.64741397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.89sINFOros2_control_node[2026-09-15 20:17:47.881] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-15 20:17:47.881] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603953 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603953 ms (missed cycles : 5).[0m ×2 + 3.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804560 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804560 ms (missed cycles : 3).[0m ×2 + 4.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.17sINFOros2_control_node[2026-09-15 20:17:50.161] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-09-15 20:17:50.161] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552964 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552964 ms (missed cycles : 5).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855116 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855116 ms (missed cycles : 5).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706544 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706544 ms (missed cycles : 4).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562093 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562093 ms (missed cycles : 4).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868538 ms (missed cycles : 4). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868538 ms (missed cycles : 4).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 13.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 13.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.74sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 14.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.70sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 16.40sWARNros2_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 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563725 ms (missed cycles : 4). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563725 ms (missed cycles : 4).[0m ×2 + 8.00sWARNros2_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 + 8.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.06sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.51sINFOobjective_server_nodeFound path in 5 iterations (0.00596716 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072335 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072335 ms (missed cycles : 2).[0m ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.38sINFOros2_control_node[2026-09-15 20:18:27.876] [info] Received new action goal ×2 + 9.38sINFOros2_control_node[2026-09-15 20:18:27.876] [info] Accepted new action goal ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772901 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772901 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497988 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497988 ms (missed cycles : 3).[0m ×2 + 11.64sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.91sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789503510.44172597 seconds ×3 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309225 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309225 ms (missed cycles : 3).[0m ×2 + 13.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134340 ms (missed cycles : 3). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134340 ms (missed cycles : 3).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292616 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292616 ms (missed cycles : 3).[0m ×2 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.75sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789503513.24651051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (7.41e-07 s). ×2 + 14.96sINFOros2_control_node[2026-09-15 20:18:33.460] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-09-15 20:18:33.460] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979853 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979853 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098588 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098588 ms (missed cycles : 3).[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235092 ms (missed cycles : 7). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235092 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740071 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740071 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226927 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226927 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693078 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693078 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789503694.02824521 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.85sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.85sINFOobjective_server_nodecaller: ×8 + 2.85sINFOobjective_server_nodetype: 0 ×8 + 2.85sINFOobjective_server_nodename: "" ×8 + 2.85sINFOobjective_server_nodeinstance_id: "" ×8 + 2.85sINFOobjective_server_node ×8 + 2.92sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789503694.68716455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.04sINFOros2_control_node[2026-09-15 20:21:34.811] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-09-15 20:21:34.811] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869532 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869532 ms (missed cycles : 4).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043226 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043226 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725795 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725795 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800992 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800992 ms (missed cycles : 2).[0m ×2 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041583 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041583 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191823 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191823 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280287 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280287 ms (missed cycles : 2).[0m ×2 + 9.84sWARNros2_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 ×4 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 13.25sINFOobjective_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 + 13.26sERRORobjective_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: 1789503705.02744770 seconds ×3 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 13.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 13.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 13.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_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 + 14.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 15.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.33sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847851 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847851 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114691 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114691 ms (missed cycles : 5).[0m ×2 + 8.64sWARNros2_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 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502860 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502860 ms (missed cycles : 3).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854897 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854897 ms (missed cycles : 3).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820940 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820940 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126978 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126978 ms (missed cycles : 4).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217857 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217857 ms (missed cycles : 3).[0m ×2 + 13.87sINFOobjective_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 + 13.88sERRORobjective_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: 1789503683.52771401 seconds ×3 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.48sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789503684.12754607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.896137 ms (missed cycles : 8). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.896137 ms (missed cycles : 8).[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 14.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.79sINFOros2_control_node[2026-09-15 20:21:24.436] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-15 20:21:24.436] [info] Accepted new action goal ×2 + 14.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960677 ms (missed cycles : 5). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960677 ms (missed cycles : 5).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912675 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912675 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 57 warnings · 2142 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×324 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×324 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×648 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×648 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.884804 ms (missed cycles : 6). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.884804 ms (missed cycles : 6).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 1 iterations (0.00367521 s). ×2 + 8.03sWARNros2_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 + 8.04sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.14sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.15sINFOros2_control_node[2026-09-15 20:21:06.494] [info] Received new action goal ×2 + 8.15sINFOros2_control_node[2026-09-15 20:21:06.494] [info] Accepted new action goal ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051478 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051478 ms (missed cycles : 3).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869612 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869612 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756059 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756059 ms (missed cycles : 2).[0m ×2 + 10.46sINFOros2_control_node[2026-09-15 20:21:08.796] [info] Received new action goal ×2 + 10.46sINFOros2_control_node[2026-09-15 20:21:08.796] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 12.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.28sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 12.28sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 13.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 14.13sWARNros2_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 + 14.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 15.05sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 16.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 60 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497988 ms (missed cycles : 3).[0m ×2 + 0.66sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.93sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.93sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.93sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789503510.44172597 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309225 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309225 ms (missed cycles : 3).[0m ×2 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134340 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134340 ms (missed cycles : 3).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292616 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292616 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789503513.24651051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.41e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.98sINFOros2_control_node[2026-09-15 20:18:33.460] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-15 20:18:33.460] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979853 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979853 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098588 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098588 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235092 ms (missed cycles : 7). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235092 ms (missed cycles : 7).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890994 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890994 ms (missed cycles : 4).[0m ×2 + 8.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.24sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351260 ms (missed cycles : 2). + 8.54sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351260 ms (missed cycles : 2).[0m ×2 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 5 iterations (0.00610914 s). ×2 + 8.79sWARNros2_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 + 8.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 9.18sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.43sINFOros2_control_node[2026-09-15 20:18:38.903] [info] Received new action goal ×2 + 9.43sINFOros2_control_node[2026-09-15 20:18:38.903] [info] Accepted new action goal ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429675 ms (missed cycles : 5). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429675 ms (missed cycles : 5).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581901 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581901 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355976 ms (missed cycles : 5). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355976 ms (missed cycles : 5).[0m ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.98sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 12.09sINFOobjective_server_nodeFound path in 1 iterations (0.00342737 s). ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.37sINFOros2_control_node[2026-09-15 20:18:41.852] [info] Received new action goal ×2 + 12.37sINFOros2_control_node[2026-09-15 20:18:41.852] [info] Accepted new action goal ×2 + 12.81sINFOros2_control_node[2026-09-15 20:18:42.284] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-09-15 20:18:42.284] [info] Accepted new action goal ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297377 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297377 ms (missed cycles : 4).[0m ×2 + 14.04sINFOobjective_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 + 14.05sINFOros2_control_node[2026-09-15 20:18:43.526] [info] Got request to cancel active goal. ×2 + 14.05sINFOros2_control_node[2026-09-15 20:18:43.526] [info] Canceling active goal... ×2 + 14.06sERRORobjective_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: 1789503523.53531790 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483579 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483579 ms (missed cycles : 3).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789503524.19432855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 14.84sINFOros2_control_node[2026-09-15 20:18:44.318] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-09-15 20:18:44.318] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634982 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634982 ms (missed cycles : 2).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039751 ms (missed cycles : 5). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039751 ms (missed cycles : 5).[0m ×2 + 17.34sINFOros2_control_node[2026-09-15 20:18:46.813] [info] Received new action goal ×2 + 17.34sINFOros2_control_node[2026-09-15 20:18:46.813] [info] Accepted new action goal ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331778 ms (missed cycles : 4). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331778 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 55 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.86sINFOobjective_server_nodecaller: ×6 + 2.86sINFOobjective_server_nodetype: 0 ×6 + 2.86sINFOobjective_server_nodename: "" ×6 + 2.86sINFOobjective_server_nodeinstance_id: "" ×6 + 2.86sINFOobjective_server_node ×6 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.12sINFOros2_control_node[2026-09-15 20:18:14.808] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-15 20:18:14.808] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029157 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029157 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601876 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601876 ms (missed cycles : 3).[0m ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 9.46sINFOros2_control_node[2026-09-15 20:18:17.145] [info] Received new action goal ×2 + 9.46sINFOros2_control_node[2026-09-15 20:18:17.145] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317872 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317872 ms (missed cycles : 4).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 11.80sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 11.81sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 11.81sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 12.67sWARNros2_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 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 13.84sINFOobjective_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 + 13.84sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 13.84sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 13.86sERRORobjective_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: 1789503501.54682112 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.70sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.63sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.16sINFOros2_control_node[2026-09-15 20:17:39.495] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-15 20:17:39.495] [info] Accepted new action goal ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860436 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860436 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750315 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750315 ms (missed cycles : 2).[0m ×2 + 8.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505521 ms (missed cycles : 5). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505521 ms (missed cycles : 5).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 9.97sINFOros2_control_node[2026-09-15 20:17:43.305] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-09-15 20:17:43.305] [info] Accepted new action goal ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170184 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170184 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642058 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642058 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128686 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128686 ms (missed cycles : 3).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-09-15 20:17:46.645] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-09-15 20:17:46.645] [info] Accepted new action goal ×2 + 13.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.69sINFOros2_control_node[2026-09-15 20:17:47.021] [info] Got request to cancel active goal. ×2 + 13.69sINFOros2_control_node[2026-09-15 20:17:47.021] [info] Canceling active goal... ×2 + 13.70sERRORobjective_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: 1789503467.03749514 seconds ×3 + 13.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119192 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119192 ms (missed cycles : 3).[0m ×2 + 14.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789503467.64741397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 14.54sINFOros2_control_node[2026-09-15 20:17:47.881] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-09-15 20:17:47.881] [info] Accepted new action goal ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603953 ms (missed cycles : 5). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603953 ms (missed cycles : 5).[0m ×2 + 15.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804560 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804560 ms (missed cycles : 3).[0m ×2 + 16.81sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 16.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.82sINFOros2_control_node[2026-09-15 20:17:50.161] [info] Received new action goal ×2 + 16.83sINFOros2_control_node[2026-09-15 20:17:50.161] [info] Accepted new action goal ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552964 ms (missed cycles : 5). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552964 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1789503705.02744770 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.02sINFOobjective_server_nodecaller: ×12 + 2.02sINFOobjective_server_nodetype: 0 ×12 + 2.02sINFOobjective_server_nodename: "" ×12 + 2.02sINFOobjective_server_nodeinstance_id: "" ×12 + 2.02sINFOobjective_server_node ×12 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337089 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337089 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.85sINFOros2_control_node[2026-09-15 20:21:50.422] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-15 20:21:50.422] [info] Accepted new action goal ×2 + 6.85sINFOros2_control_node[2026-09-15 20:21:50.422] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731760 ms (missed cycles : 5). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731760 ms (missed cycles : 5).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536969 ms (missed cycles : 4). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536969 ms (missed cycles : 4).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902545 ms (missed cycles : 4). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902545 ms (missed cycles : 4).[0m ×2 + 10.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3).[0m ×2 + 13.46sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 13.46sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Canceling active goal... ×2 + 13.46sERRORobjective_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: 1789503717.03269863 seconds ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 14.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 15.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 15.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.99sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 16.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 16.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.64sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 16.90sWARNros2_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 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[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 1.820940 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820940 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126978 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126978 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217857 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217857 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sERRORobjective_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: 1789503683.52771401 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789503684.12754607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.896137 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.896137 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.23sINFOros2_control_node[2026-09-15 20:21:24.436] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-15 20:21:24.436] [info] Accepted new action goal ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960677 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960677 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912675 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912675 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032446 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032446 ms (missed cycles : 3).[0m ×2 + 7.24sINFOros2_control_node[2026-09-15 20:21:28.443] [info] Received new action goal ×2 + 7.24sINFOros2_control_node[2026-09-15 20:21:28.443] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885071 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885071 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693071 ms (missed cycles : 5). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693071 ms (missed cycles : 5).[0m ×2 + 9.23sWARNros2_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 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179488 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179488 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740071 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740071 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226927 ms (missed cycles : 5). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226927 ms (missed cycles : 5).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693078 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693078 ms (missed cycles : 2).[0m ×2 + 12.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789503694.02824521 seconds ×3 + 13.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789503694.68716455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.60sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 13.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.61sINFOros2_control_node[2026-09-15 20:21:34.811] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-09-15 20:21:34.811] [info] Accepted new action goal ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869532 ms (missed cycles : 4). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869532 ms (missed cycles : 4).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043226 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043226 ms (missed cycles : 3).[0m ×2 + 15.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 15.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725795 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725795 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.3s | 57 errors · 34 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[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-15 20:21:57.028] [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: 1789503717.03269863 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_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 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 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: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.59sINFOobjective_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 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789503720.89100432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789503721.50113153 seconds ×3 + 4.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819995 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819995 ms (missed cycles : 4).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623029 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623029 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494025 ms (missed cycles : 5). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494025 ms (missed cycles : 5).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.531330 ms (missed cycles : 8). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.531330 ms (missed cycles : 8).[0m ×2 + 9.78sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.80sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORweb_video_auth_proxy-23process has died [pid 7347, 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 + 9.81sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.81sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORweb_bridge_auth_proxy-22process has died [pid 7336, 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 + 9.82sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.82sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.82sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.83sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.83sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.84sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.84sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.85sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.85sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.86sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.86sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.87sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.87sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.87sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.88sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.88sINFOcontroller_managerShutdown request received.... + 9.88sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.88sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.88sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.88sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.88sINFOvideo_server2026/09/15 20:22:06 INF shutting down gracefully ×2 + 9.88sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.88sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.88sINFOvideo_server-21process has finished cleanly [pid 7335] ×2 + 9.88sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.88sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.88sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.88sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.88sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.88sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.88sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.88sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.88sINFOvideo_server2026/09/15 20:22:06 INF [WebRTC] closing ×2 + 9.88sINFOvideo_server2026/09/15 20:22:06 INF [RTSP] closing ×2 + 9.88sINFOvideo_server2026/09/15 20:22:06 INF waiting for running hooks ×2 + 9.88sINFOcontroller_managerShutting down the controller manager. + 9.88sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.88sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.88sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.88sERRORmove_groupStack trace (most recent call last) in thread 7707: ×2 + 9.88sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.88sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.88sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.88sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.88sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.89sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.89sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.89sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.89sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.89sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.89sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.89sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.89sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.89sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.89sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.89sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33f431fa63, in __clone ×2 + 9.89sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33f4292aa3, in ×2 + 9.89sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33f4524db3, in ×2 + 9.89sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f33f4c88b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.89sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f33f48b6620, in rclcpp::Rate::sleep() ×2 + 9.89sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f33f47f8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.89sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f33f47ba087, in ×2 + 9.89sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33f44f3390, in __cxa_throw ×2 + 9.89sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33f44dda54, in std::terminate() ×2 + 9.89sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33f44f30d9, in ×2 + 9.89sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33f44ddff4, in ×2 + 9.89sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33f421e8fe, in abort ×2 + 9.89sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33f423b27d, in raise ×2 + 9.89sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33f4294b2c, in pthread_kill ×2 + 9.89sERRORmove_groupAborted (Signal sent by tkill() 7267 0) ×2 + 9.90sERRORmove_group-9process has died [pid 7267, 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_qo6o4883 --params-file /tmp/launch_params_o_2b1ldo --params-file /tmp/launch_params_tgd5arkl --params-file /tmp/launch_params_iwepbqta --params-file /tmp/launch_params_2rici2df --params-file /tmp/launch_params_sm0gclix']. ×2 + 10.09sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.09sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.09sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.88sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7313] ×2 + 10.88sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.90sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7271] ×2 + 10.90sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7270] ×2 + 10.94sINFOparameter_manager_node-10process has finished cleanly [pid 7268] ×2 + 10.95sINFOui_teleop_bridge-18process has finished cleanly [pid 7276] ×2 + 10.95sINFOwaypoint_manager_node-11process has finished cleanly [pid 7269] ×2 + 10.95sINFOexecute_objective_bridge-17process has finished cleanly [pid 7275] ×2 + 11.00sINFOobjective_server_node[0;m[2026-09-15 20:22:08.021] [moveit_pro_license] [critical] ×2 + 11.00sINFOobjective_server_node************************************************* ×4 + 11.00sINFOobjective_server_node* MoveIt Pro License ×2 + 11.00sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.00sINFOcomponent_container_mt-16process has finished cleanly [pid 7274] ×2 + 11.13sINFOobjective_server_node_main-14process has finished cleanly [pid 7272] ×2 + 11.13sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.89sINFOweb_bridge-19process has finished cleanly [pid 7277] ×2 + 11.89sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.03sINFOcomponent_container_mt-15process has finished cleanly [pid 7273] ×2 + 12.52sINFOros2_control_node-1process has finished cleanly [pid 7230] ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789503535.38575625 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.21sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.21sINFOobjective_server_nodecaller: ×6 + 2.21sINFOobjective_server_nodetype: 0 ×6 + 2.21sINFOobjective_server_nodename: "" ×6 + 2.21sINFOobjective_server_nodeinstance_id: "" ×6 + 2.21sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789503536.05495262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789503536.11507058 seconds ×3 + 2.51sWARNros2_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 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.68sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.76sINFOobjective_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 + 6.77sINFOobjective_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 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.11sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 8.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Canceling active goal... ×2 + 2.72sERRORobjective_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: 1789503717.03269863 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.26sINFOobjective_server_nodecaller: ×8 + 3.26sINFOobjective_server_nodetype: 0 ×8 + 3.26sINFOobjective_server_nodename: "" ×8 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 5.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789503720.89100432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789503721.50113153 seconds ×3 + 7.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 35 warnings · 628 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737069 ms (missed cycles : 2).[0m ×2 + 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_node[2026-09-15 20:17:28.694] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-15 20:17:28.695] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.29sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.29sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.35sINFOros2-7process has finished cleanly [pid 7236] ×2 + 0.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOros2_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 + 0.51sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.51sWARNros2_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 + 0.56sINFOcomponent_container_mt[2026-09-15 20:17:29.228] [moveit_pro_license] [info] ×2 + 0.56sINFOcomponent_container_mt************************************************* ×4 + 0.56sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.56sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.69sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.76sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.76sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sINFOros2_control_node[2026-09-15 20:17:29.454] [info] Controller state will be published at 20 Hz. ×2 + 0.79sINFOros2_control_node[2026-09-15 20:17:29.455] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814696 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814696 ms (missed cycles : 5).[0m ×2 + 1.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 1.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 1.16sINFOros2-8process has finished cleanly [pid 7237] ×2 + 1.17sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.47sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.47sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.47sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 1.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 1.51sINFOros2-4process has finished cleanly [pid 7233] ×2 + 1.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOforce_torque_sensor_broadcasterconfigure successful + 1.54sINFOros2_control_nodeconfigure successful[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.55sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.55sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.85sINFOros2-2process has finished cleanly [pid 7231] ×2 + 1.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 1.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 1.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.93sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.93sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.93sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.96sINFOros2_control_node[2026-09-15 20:17:30.619] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.96sINFOros2_control_node[2026-09-15 20:17:30.619] [info] Controller state will be published at 50 Hz. ×2 + 1.96sINFOros2_control_node[2026-09-15 20:17:30.624] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2).[0m ×2 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.29sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.29sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.30sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 2.30sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 2.31sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.33sINFOros2-6process has finished cleanly [pid 7235] ×2 + 2.33sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.33sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.34sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.34sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.36sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.36sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.67sINFOros2-3process has finished cleanly [pid 7232] ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.90sINFOobjective_server_nodecaller: ×14 + 2.90sINFOobjective_server_nodetype: 0 ×14 + 2.90sINFOobjective_server_nodename: "" ×14 + 2.90sINFOobjective_server_nodeinstance_id: "" ×14 + 2.90sINFOobjective_server_node ×14 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 4.30sWARNros2_control_nodeCamera render tick took 1.86 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 + 4.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 6.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 6.84sWARNros2_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 4.503348 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 7.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 8.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.30sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 8.30sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.272062 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.272062 ms (missed cycles : 8).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789503535.38575625 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789503536.05495262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789503536.11507058 seconds ×3 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.21sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.97sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3).[0m ×2 + 0.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.50sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 0.50sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Canceling active goal... ×2 + 0.51sERRORobjective_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: 1789503717.03269863 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.05sINFOobjective_server_nodecaller: ×8 + 1.05sINFOobjective_server_nodetype: 0 ×8 + 1.05sINFOobjective_server_nodename: "" ×8 + 1.05sINFOobjective_server_nodeinstance_id: "" ×8 + 1.05sINFOobjective_server_node ×8 + 1.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.08sINFOobjective_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 3.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 3.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789503720.89100432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789503721.50113153 seconds ×3 + 5.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819995 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819995 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503705.02744770 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 473 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7231] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-15 20:17:30.624] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 7235] ×2 + 0.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 2.49sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[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 3.193003 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503705.02744770 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3).[0m ×2 + 0.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.50sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 0.50sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Canceling active goal... ×2 + 0.51sERRORobjective_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: 1789503717.03269863 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.05sINFOobjective_server_nodecaller: ×8 + 1.05sINFOobjective_server_nodetype: 0 ×8 + 1.05sINFOobjective_server_nodename: "" ×8 + 1.05sINFOobjective_server_nodeinstance_id: "" ×8 + 1.05sINFOobjective_server_node ×8 + 1.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.08sINFOobjective_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 3.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 3.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789503720.89100432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789503721.50113153 seconds ×3 + 5.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.616657 ms (missed cycles : 8).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819995 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819995 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2032 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×324 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×324 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×648 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×648 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961855 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201408 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503478.12800002 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072560 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789503478.78872705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789503478.86886048 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915142 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789503479.48192763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-15 20:17:59.692] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774822 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450309 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783726 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955977 ms (missed cycles : 3).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-15 20:18:08.706] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279286 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185322 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789503490.00313830 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789503490.62948537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789503490.70961452 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504277 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789503491.33374262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-15 20:18:11.458] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276135 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043563 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027981 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331011 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-15 20:18:19.495] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557763 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429929 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_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 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-15 20:18:21.534] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789503501.54682112 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679989 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789503502.18888783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-15 20:18:22.385] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757180 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602524 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355976 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355976 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.37sINFOobjective_server_nodeFound path in 1 iterations (0.00342737 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.65sINFOros2_control_node[2026-09-15 20:18:41.852] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-15 20:18:41.852] [info] Accepted new action goal ×2 + 1.08sINFOros2_control_node[2026-09-15 20:18:42.284] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-09-15 20:18:42.284] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297377 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297377 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOros2_control_node[2026-09-15 20:18:43.526] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-15 20:18:43.526] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503523.53531790 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483579 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483579 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.87sINFOobjective_server_nodename: "" ×2 + 2.87sINFOobjective_server_nodeinstance_id: "" ×2 + 2.87sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789503524.19432855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.11sINFOros2_control_node[2026-09-15 20:18:44.318] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-15 20:18:44.318] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634982 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634982 ms (missed cycles : 2).[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039751 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039751 ms (missed cycles : 5).[0m ×2 + 5.61sINFOros2_control_node[2026-09-15 20:18:46.813] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-09-15 20:18:46.813] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331778 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331778 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.272062 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.272062 ms (missed cycles : 8).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.179146 ms (missed cycles : 7).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913563 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789503535.38575625 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294928 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789503536.05495262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789503536.11507058 seconds ×3 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789503536.71109438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-15 20:18:56.825] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.684632 ms (missed cycles : 8).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223766 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789503538.83122206 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228453 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715616 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789503540.46725368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-15 20:19:00.894] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039310 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679992 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711662 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 21 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911626 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911626 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437816 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482505 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482505 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789503594.89040756 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454752 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454752 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_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: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789503595.50722671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.37sINFOros2_control_node[2026-09-15 20:19:55.672] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-15 20:19:55.672] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594506 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594506 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118524 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118524 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735938 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735938 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 · 2032 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×324 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×324 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×648 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×648 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2032 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×324 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×324 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×648 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×648 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2032 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×324 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×324 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×648 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×648 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2032 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×324 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×324 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×648 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×648 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726448 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676507 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574814 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789503661.51093745 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789503662.23666191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179359 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-15 20:21:02.430] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542370 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941919 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-15 20:21:10.621] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783652 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822400 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789503671.91683292 seconds ×3 + 2.82sWARNros2_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 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847827 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789503673.19726491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-15 20:21:13.391] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.990766 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095019 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 1.820940 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820940 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126978 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126978 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217857 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217857 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sERRORobjective_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: 1789503683.52771401 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.87sINFOobjective_server_nodename: "" ×2 + 2.87sINFOobjective_server_nodeinstance_id: "" ×2 + 2.87sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789503684.12754607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.896137 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.896137 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.23sINFOros2_control_node[2026-09-15 20:21:24.436] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-15 20:21:24.436] [info] Accepted new action goal ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960677 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960677 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912675 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912675 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 4.740071 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740071 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226927 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226927 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693078 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693078 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789503694.02824521 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789503694.68716455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.04sINFOros2_control_node[2026-09-15 20:21:34.811] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-09-15 20:21:34.811] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869532 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869532 ms (missed cycles : 4).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043226 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043226 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725795 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725795 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503705.02744770 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_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 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503705.02744770 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_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 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503705.02744770 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_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 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193003 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789503705.02744770 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_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 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1789503705.02744770 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1789503705.02744770 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980200 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488689 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1789503705.02744770 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789503705.64151025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548953 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789503705.71163630 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789503706.30959368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789503706.33222222 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539871 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789503706.97839737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-15 20:21:47.102] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166485 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582708 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Canceling active goal... ×2 + 2.72sERRORobjective_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: 1789503717.03269863 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.26sINFOobjective_server_nodename: "" ×6 + 3.26sINFOobjective_server_nodeinstance_id: "" ×6 + 3.26sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 5.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030576 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794626 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321949 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-09-15 20:21:57.028] [info] Canceling active goal... ×2 + 2.72sERRORobjective_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: 1789503717.03269863 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986522 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.26sINFOobjective_server_nodename: "" ×6 + 3.26sINFOobjective_server_nodeinstance_id: "" ×6 + 3.26sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789503717.63332915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692702 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789503719.01345205 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789503719.60924554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171713 ms (missed cycles : 5).[0m ×2 + 5.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789503719.61139202 seconds ×3 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789503720.26429152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789503720.29512215 seconds ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743844 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.6s | 42 warnings · 751 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/2026-09-15-20-17-24-025164-1de9bd0737c4-7182 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028858 ms (missed cycles : 2). + 0.80sINFOros2_control_node-1process started with pid [7230] ×2 + 0.80sINFOmove_group-9process started with pid [7267] ×2 + 0.80sINFOparameter_manager_node-10process started with pid [7268] ×2 + 0.80sINFOwaypoint_manager_node-11process started with pid [7269] ×2 + 0.80sINFOmove_joint_resampler_node-12process started with pid [7270] ×2 + 0.80sINFOmove_end_effector_resampler_node-13process started with pid [7271] ×2 + 0.80sINFOobjective_server_node_main-14process started with pid [7272] ×2 + 0.81sINFOcomponent_container_mt-15process started with pid [7273] ×2 + 0.81sINFOcomponent_container_mt-16process started with pid [7274] ×2 + 0.81sINFOexecute_objective_bridge-17process started with pid [7275] ×2 + 0.81sINFOui_teleop_bridge-18process started with pid [7276] ×2 + 0.81sINFOweb_bridge-19process started with pid [7277] ×2 + 0.81sINFOtf2_web_republisher_node-20process started with pid [7313] ×2 + 0.81sINFOvideo_server-21process started with pid [7335] ×2 + 0.81sINFOweb_bridge_auth_proxy-22process started with pid [7336] ×2 + 0.81sINFOweb_video_auth_proxy-23process started with pid [7347] ×2 + 0.81sINFOros2-2process started with pid [7231] ×2 + 0.81sINFOros2-3process started with pid [7232] ×2 + 0.81sINFOros2-4process started with pid [7233] ×2 + 0.81sINFOros2-5process started with pid [7234] ×2 + 0.81sINFOros2-6process started with pid [7235] ×2 + 0.81sINFOros2-7process started with pid [7236] ×2 + 0.81sINFOros2-8process started with pid [7237] ×2 + 0.83sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.83sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.83sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.83sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.83sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.83sWARNros2_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 + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028858 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.21sINFOvideo_server2026/09/15 20:17:25 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.21sINFOvideo_server2026/09/15 20:17:25 INF configuration loaded from /tmp/moveit-webrtc-acwmj9fz/mediamtx.yml ×2 + 1.21sINFOvideo_server2026/09/15 20:17:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.22sINFOvideo_server2026/09/15 20:17:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.60sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.89sINFOmove_group[2026-09-15 20:17:26.299] [moveit_pro_license] [info] ×2 + 1.89sINFOmove_group************************************************* ×4 + 1.89sINFOmove_group* MoveIt Pro License ×2 + 1.89sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.07sINFOros2_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 + 2.07sINFOros2_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 + 2.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207423 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207423 ms (missed cycles : 3).[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOmove_group ×4 + 2.32sINFOmove_group[92mYou can start planning now![0m ×2 + 2.35sINFOwaypoint_manager_node[2026-09-15 20:17:26.766] [moveit_pro_license] [info] ×2 + 2.35sINFOwaypoint_manager_node************************************************* ×4 + 2.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.47sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.97sINFOobjective_server_node[2026-09-15 20:17:28.383] [moveit_pro_license] [info] ×2 + 3.97sINFOobjective_server_node************************************************* ×4 + 3.97sINFOobjective_server_node* MoveIt Pro License ×2 + 3.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.09sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.09sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.09sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.10sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.10sWARNros2_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 + 4.10sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.10sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.10sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.10sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.10sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.10sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.10sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.10sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.10sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.10sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.10sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.10sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.10sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.10sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.10sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.10sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.10sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.10sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.10sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.10sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.10sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.11sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.11sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.11sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.11sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.11sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.11sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 4.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737069 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737069 ms (missed cycles : 2).[0m ×2 + 4.25sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.25sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.25sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.25sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.28sINFOros2_control_node[2026-09-15 20:17:28.694] [info] Controller state will be published at 10 Hz. ×2 + 4.28sINFOros2_control_node[2026-09-15 20:17:28.695] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.54sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.54sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 4.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 4.55sWARNobjective_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 + 4.60sINFOros2-7process has finished cleanly [pid 7236] ×2 + 4.61sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.61sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.61sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.62sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.62sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.62sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.62sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.62sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.76sINFOros2_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 + 4.76sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.76sWARNros2_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 + 4.82sINFOcomponent_container_mt[2026-09-15 20:17:29.228] [moveit_pro_license] [info] ×2 + 4.82sINFOcomponent_container_mt************************************************* ×4 + 4.82sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.82sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.95sINFOros2-5process has finished cleanly [pid 7234] ×2 + 4.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 4.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 5.01sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.01sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.01sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.01sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.04sINFOros2_control_node[2026-09-15 20:17:29.454] [info] Controller state will be published at 20 Hz. ×2 + 5.04sINFOros2_control_node[2026-09-15 20:17:29.455] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814696 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814696 ms (missed cycles : 5).[0m ×2 + 5.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 5.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 5.41sINFOros2-8process has finished cleanly [pid 7237] ×2 + 5.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 5.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 5.76sINFOros2-4process has finished cleanly [pid 7233] ×2 + 5.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.77sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.79sINFOforce_torque_sensor_broadcasterconfigure successful + 5.79sINFOros2_control_nodeconfigure successful[0m ×2 + 5.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.80sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.80sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.07sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.07sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.07sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.10sINFOros2-2process has finished cleanly [pid 7231] ×2 + 6.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 6.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 6.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.18sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.18sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.21sINFOros2_control_node[2026-09-15 20:17:30.619] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.21sINFOros2_control_node[2026-09-15 20:17:30.619] [info] Controller state will be published at 50 Hz. ×2 + 6.21sINFOros2_control_node[2026-09-15 20:17:30.624] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2).[0m ×2 + 6.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.55sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.55sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.55sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.55sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.55sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 6.55sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 6.56sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.58sINFOros2-6process has finished cleanly [pid 7235] ×2 + 6.58sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.58sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.60sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.60sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.60sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.60sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.61sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.61sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.92sINFOros2-3process has finished cleanly [pid 7232] ×2 + 7.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 7.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 7.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 7.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 7.15sINFOobjective_server_nodecaller: ×10 + 7.15sINFOobjective_server_nodetype: 0 ×10 + 7.15sINFOobjective_server_nodename: "" ×10 + 7.15sINFOobjective_server_nodeinstance_id: "" ×10 + 7.15sINFOobjective_server_node ×10 + 7.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 7.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 8.55sWARNros2_control_nodeCamera render tick took 1.86 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 + 8.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 9.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 9.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 10.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 10.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 10.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 11.09sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 343 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 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 6.49sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 385 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7232] ×2 + 0.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.23sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.23sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.23sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.23sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.23sINFOobjective_server_nodecaller: ×14 + 0.23sINFOobjective_server_nodetype: 0 ×14 + 0.23sINFOobjective_server_nodename: "" ×14 + 0.23sINFOobjective_server_nodeinstance_id: "" ×14 + 0.23sINFOobjective_server_node ×14 + 0.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 1.63sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 5.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.63sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 7.32sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 153 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/2026-09-15-20-17-24-025164-1de9bd0737c4-7182 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028858 ms (missed cycles : 2). + 0.80sINFOros2_control_node-1process started with pid [7230] ×2 + 0.80sINFOmove_group-9process started with pid [7267] ×2 + 0.80sINFOparameter_manager_node-10process started with pid [7268] ×2 + 0.80sINFOwaypoint_manager_node-11process started with pid [7269] ×2 + 0.80sINFOmove_joint_resampler_node-12process started with pid [7270] ×2 + 0.80sINFOmove_end_effector_resampler_node-13process started with pid [7271] ×2 + 0.80sINFOobjective_server_node_main-14process started with pid [7272] ×2 + 0.81sINFOcomponent_container_mt-15process started with pid [7273] ×2 + 0.81sINFOcomponent_container_mt-16process started with pid [7274] ×2 + 0.81sINFOexecute_objective_bridge-17process started with pid [7275] ×2 + 0.81sINFOui_teleop_bridge-18process started with pid [7276] ×2 + 0.81sINFOweb_bridge-19process started with pid [7277] ×2 + 0.81sINFOtf2_web_republisher_node-20process started with pid [7313] ×2 + 0.81sINFOvideo_server-21process started with pid [7335] ×2 + 0.81sINFOweb_bridge_auth_proxy-22process started with pid [7336] ×2 + 0.81sINFOweb_video_auth_proxy-23process started with pid [7347] ×2 + 0.81sINFOros2-2process started with pid [7231] ×2 + 0.81sINFOros2-3process started with pid [7232] ×2 + 0.81sINFOros2-4process started with pid [7233] ×2 + 0.81sINFOros2-5process started with pid [7234] ×2 + 0.81sINFOros2-6process started with pid [7235] ×2 + 0.81sINFOros2-7process started with pid [7236] ×2 + 0.81sINFOros2-8process started with pid [7237] ×2 + 0.83sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.83sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.83sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.83sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.83sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.83sWARNros2_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 + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028858 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.21sINFOvideo_server2026/09/15 20:17:25 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.21sINFOvideo_server2026/09/15 20:17:25 INF configuration loaded from /tmp/moveit-webrtc-acwmj9fz/mediamtx.yml ×2 + 1.21sINFOvideo_server2026/09/15 20:17:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.22sINFOvideo_server2026/09/15 20:17:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.60sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.89sINFOmove_group[2026-09-15 20:17:26.299] [moveit_pro_license] [info] ×2 + 1.89sINFOmove_group************************************************* ×4 + 1.89sINFOmove_group* MoveIt Pro License ×2 + 1.89sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.07sINFOros2_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 + 2.07sINFOros2_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 + 2.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207423 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207423 ms (missed cycles : 3).[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOmove_group ×4 + 2.32sINFOmove_group[92mYou can start planning now![0m ×2 + 2.35sINFOwaypoint_manager_node[2026-09-15 20:17:26.766] [moveit_pro_license] [info] ×2 + 2.35sINFOwaypoint_manager_node************************************************* ×4 + 2.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.47sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 473 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7231] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-15 20:17:30.624] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 7235] ×2 + 0.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 2.49sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 473 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7231] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-15 20:17:30.624] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 7235] ×2 + 0.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 2.49sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 473 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7231] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-15 20:17:30.591] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-15 20:17:30.619] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-15 20:17:30.624] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023187 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kghvmkmb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_397hqgs1 --params-file /tmp/launch_params_c2q1m760 [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 7235] ×2 + 0.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 2.49sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 19 warnings · 383 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7232] ×2 + 0.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.23sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.23sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.23sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.23sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.23sINFOobjective_server_nodecaller: ×14 + 0.23sINFOobjective_server_nodetype: 0 ×14 + 0.23sINFOobjective_server_nodename: "" ×14 + 0.23sINFOobjective_server_nodeinstance_id: "" ×14 + 0.23sINFOobjective_server_node ×14 + 0.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789503451.61880064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789503451.62903905 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 1.63sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 5.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.63sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[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 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789503452.22683740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 6.49sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×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 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-15 20:17:39.495] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-15 20:17:39.495] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-15 20:17:39.495] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-15 20:17:39.495] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517535 ms (missed cycles : 7).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789503453.33702016 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.96sINFOobjective_server_nodecaller: ×10 + 0.96sINFOobjective_server_nodetype: 0 ×10 + 0.96sINFOobjective_server_nodename: "" ×10 + 0.96sINFOobjective_server_nodeinstance_id: "" ×10 + 0.96sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789503453.96079087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856829 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789503454.02098489 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789503454.68116331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789503454.70129800 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576202 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789503455.29915833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789503455.45005035 seconds ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503348 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789503456.16791964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789503456.22804999 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789503456.83103561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.3007e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-15 20:17:36.967] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685111 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373418 ms (missed cycles : 3).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528352 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||