122
Total objective tests
32
Objectives passed
0
Objectives failed
90
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 | 44.4s | 164 warnings · 18990 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.034016 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.034016 ms (missed cycles : 8).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249763 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249763 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202509 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202509 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396649 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396649 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788488261.60178876 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788488262.20635200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.04sINFOros2_control_node[2026-09-04 02:17:42.379] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:17:42.379] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574406 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574406 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741493 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741493 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.32sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029967 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029967 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972755 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972755 ms (missed cycles : 2).[0m ×2 + 7.53sINFOjoint_trajectory_controllerReceived new action goal ×3121 + 7.53sINFOjoint_trajectory_controllerAccepted new action goal ×3121 + 7.53sINFOros2_control_nodeReceived new action goal[0m ×6242 + 7.53sINFOros2_control_nodeAccepted new action goal[0m ×6242 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753553 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753553 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269063 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269063 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706914 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706914 ms (missed cycles : 2).[0m ×2 + 12.38sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.38sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.38sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713154 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713154 ms (missed cycles : 4).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110614 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110614 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816174 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816174 ms (missed cycles : 3).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566155 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566155 ms (missed cycles : 3).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172600 ms (missed cycles : 4). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172600 ms (missed cycles : 4).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741445 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741445 ms (missed cycles : 2).[0m ×2 + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739734 ms (missed cycles : 7). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739734 ms (missed cycles : 7).[0m ×2 + 19.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769896 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769896 ms (missed cycles : 2).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774518 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774518 ms (missed cycles : 2).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681329 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681329 ms (missed cycles : 2).[0m ×2 + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727185 ms (missed cycles : 2). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727185 ms (missed cycles : 2).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973677 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973677 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950661 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950661 ms (missed cycles : 2).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206041 ms (missed cycles : 2). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206041 ms (missed cycles : 2).[0m ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056477 ms (missed cycles : 2). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056477 ms (missed cycles : 2).[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848071 ms (missed cycles : 2). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848071 ms (missed cycles : 2).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934992 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934992 ms (missed cycles : 2).[0m ×2 + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002836 ms (missed cycles : 4). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002836 ms (missed cycles : 4).[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902471 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902471 ms (missed cycles : 2).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887331 ms (missed cycles : 2). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887331 ms (missed cycles : 2).[0m ×2 + 32.81sWARNros2_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 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727969 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727969 ms (missed cycles : 2).[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227631 ms (missed cycles : 2). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227631 ms (missed cycles : 2).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630028 ms (missed cycles : 2). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630028 ms (missed cycles : 2).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706190 ms (missed cycles : 2). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706190 ms (missed cycles : 2).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858067 ms (missed cycles : 3). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858067 ms (missed cycles : 3).[0m ×2 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667108 ms (missed cycles : 2). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667108 ms (missed cycles : 2).[0m ×2 + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.550857 ms (missed cycles : 6). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.550857 ms (missed cycles : 6).[0m ×2 + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951438 ms (missed cycles : 4). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951438 ms (missed cycles : 4).[0m ×2 + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116717 ms (missed cycles : 2). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116717 ms (missed cycles : 2).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613518 ms (missed cycles : 4). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613518 ms (missed cycles : 4).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804180 ms (missed cycles : 2). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804180 ms (missed cycles : 2).[0m ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129975 ms (missed cycles : 2). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129975 ms (missed cycles : 2).[0m ×2 + 45.84sWARNros2_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 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335539 ms (missed cycles : 2). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335539 ms (missed cycles : 2).[0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060684 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060684 ms (missed cycles : 2).[0m ×2 + 47.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488306.01701474 seconds ×3 + 47.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.94sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.447036 ms (missed cycles : 7). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.447036 ms (missed cycles : 7).[0m ×2 + 48.23sINFOobjective_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: ""
+ 48.23sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788488306.65204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.46sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 48.47sINFOros2_control_node[2026-09-04 02:18:26.806] [info] Received new action goal ×2 + 48.47sINFOros2_control_node[2026-09-04 02:18:26.806] [info] Accepted new action goal ×2 + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704509 ms (missed cycles : 2). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704509 ms (missed cycles : 2).[0m ×2 + 50.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528126 ms (missed cycles : 2). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528126 ms (missed cycles : 2).[0m ×2 + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252039 ms (missed cycles : 2). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252039 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.2s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_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 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 7.10sINFOros2_control_node[2026-09-04 02:16:50.583] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-04 02:16:50.583] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962283 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962283 ms (missed cycles : 2).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860826 ms (missed cycles : 3). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860826 ms (missed cycles : 3).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971832 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971832 ms (missed cycles : 2).[0m ×2 + 10.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.37sINFOros2_control_node[2026-09-04 02:16:53.853] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-04 02:16:53.853] [info] Accepted new action goal ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968416 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968416 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942543 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942543 ms (missed cycles : 3).[0m ×2 + 12.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243266 ms (missed cycles : 5). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243266 ms (missed cycles : 5).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.40sINFOros2_control_node[2026-09-04 02:16:56.877] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-04 02:16:56.877] [info] Accepted new action goal ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523849 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523849 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443584 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443584 ms (missed cycles : 3).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245168 ms (missed cycles : 4). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245168 ms (missed cycles : 4).[0m ×2 + 16.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759169 ms (missed cycles : 5). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759169 ms (missed cycles : 5).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908687 ms (missed cycles : 3). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908687 ms (missed cycles : 3).[0m ×2 + 18.24sWARNros2_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 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386514 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386514 ms (missed cycles : 3).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885484 ms (missed cycles : 2). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885484 ms (missed cycles : 2).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.817958 ms (missed cycles : 8). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.817958 ms (missed cycles : 8).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172448 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172448 ms (missed cycles : 2).[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 + 23.94sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.94sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214556 ms (missed cycles : 3). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214556 ms (missed cycles : 3).[0m ×2 + 24.82sINFOros2_control_node[2026-09-04 02:17:08.302] [info] Received new action goal ×2 + 24.82sINFOros2_control_node[2026-09-04 02:17:08.302] [info] Accepted new action goal ×2 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570882 ms (missed cycles : 4). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570882 ms (missed cycles : 4).[0m ×2 + 26.02sINFOobjective_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 + 26.03sINFOobjective_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 (4.27e-07 s). ×2 + 26.36sINFOros2_control_node[2026-09-04 02:17:09.846] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-04 02:17:09.846] [info] Accepted new action goal ×2 + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074655 ms (missed cycles : 5). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074655 ms (missed cycles : 5).[0m ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576243 ms (missed cycles : 3). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576243 ms (missed cycles : 3).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149623 ms (missed cycles : 5). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149623 ms (missed cycles : 5).[0m ×2 + 28.66sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). ×2 + 28.66sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.67sINFOros2_control_node[2026-09-04 02:17:12.153] [info] Received new action goal ×2 + 28.67sINFOros2_control_node[2026-09-04 02:17:12.153] [info] Accepted new action goal ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960694 ms (missed cycles : 2). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960694 ms (missed cycles : 2).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346996 ms (missed cycles : 2). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346996 ms (missed cycles : 2).[0m ×2 + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172986 ms (missed cycles : 2). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172986 ms (missed cycles : 2).[0m ×2 + 31.86sINFOros2_control_node[2026-09-04 02:17:15.343] [info] Received new action goal ×2 + 31.86sINFOros2_control_node[2026-09-04 02:17:15.343] [info] Accepted new action goal ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890655 ms (missed cycles : 4). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890655 ms (missed cycles : 4).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229790 ms (missed cycles : 6). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229790 ms (missed cycles : 6).[0m ×2 + 34.47sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 34.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.53sINFOros2_control_node[2026-09-04 02:17:18.009] [info] Received new action goal ×2 + 34.53sINFOros2_control_node[2026-09-04 02:17:18.009] [info] Accepted new action goal ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179825 ms (missed cycles : 2). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179825 ms (missed cycles : 2).[0m ×2 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349251 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349251 ms (missed cycles : 2).[0m ×2 + 36.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180728 ms (missed cycles : 5). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180728 ms (missed cycles : 5).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353088 ms (missed cycles : 2). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353088 ms (missed cycles : 2).[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867933 ms (missed cycles : 5). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867933 ms (missed cycles : 5).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020474 ms (missed cycles : 2). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020474 ms (missed cycles : 2).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093520 ms (missed cycles : 5). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093520 ms (missed cycles : 5).[0m ×2 + 42.43sWARNros2_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 ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944601 ms (missed cycles : 2). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944601 ms (missed cycles : 2).[0m ×2 + 42.79sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791242 ms (missed cycles : 2). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791242 ms (missed cycles : 2).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626527 ms (missed cycles : 5). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626527 ms (missed cycles : 5).[0m ×2 + 45.20sINFOros2_control_node[2026-09-04 02:17:28.682] [info] Received new action goal ×2 + 45.20sINFOros2_control_node[2026-09-04 02:17:28.683] [info] Accepted new action goal ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041990 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041990 ms (missed cycles : 2).[0m ×2 + 46.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788488249.83927298 seconds ×3 + 46.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841747 ms (missed cycles : 3). + 46.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841747 ms (missed cycles : 3).[0m ×2 + 46.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.95sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.14sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788488250.62162900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371262 ms (missed cycles : 6). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371262 ms (missed cycles : 6).[0m ×2 + 48.37sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 48.39sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.40sINFOros2_control_node[2026-09-04 02:17:31.877] [info] Received new action goal ×2 + 48.40sINFOros2_control_node[2026-09-04 02:17:31.877] [info] Accepted new action goal ×2 + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.114772 ms (missed cycles : 7). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.114772 ms (missed cycles : 7).[0m ×2 + 49.26sWARNros2_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 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13340 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4382 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2190 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2190 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4380 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129975 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129975 ms (missed cycles : 2).[0m ×2 + 1.47sWARNros2_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 ×6 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335539 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335539 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060684 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060684 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488306.01701474 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.57sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.447036 ms (missed cycles : 7). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.447036 ms (missed cycles : 7).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_nodecaller: ×4 + 3.86sINFOobjective_server_nodetype: 0 ×4 + 3.86sINFOobjective_server_nodename: "" ×4 + 3.86sINFOobjective_server_nodeinstance_id: "" ×4 + 3.86sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788488306.65204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-04 02:18:26.806] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 02:18:26.806] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704509 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704509 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.39sINFOobjective_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 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528126 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528126 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252039 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252039 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859011 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859011 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706990 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706990 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690253 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690253 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974382 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974382 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175685 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175685 ms (missed cycles : 2).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785630 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785630 ms (missed cycles : 2).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920613 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920613 ms (missed cycles : 2).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015048 ms (missed cycles : 5). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015048 ms (missed cycles : 5).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685072 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685072 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295152 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295152 ms (missed cycles : 2).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025186 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025186 ms (missed cycles : 2).[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479049 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479049 ms (missed cycles : 2).[0m ×2 + 20.32sWARNros2_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 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318838 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318838 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067690 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067690 ms (missed cycles : 2).[0m ×2 + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 25.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 26.03sINFOobjective_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: ""
+ 26.03sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.32sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515892 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515892 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523589 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523589 ms (missed cycles : 7).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.50sINFOobjective_server_nodeFound path in 1 iterations (0.00340964 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.77sINFOros2_control_node[2026-09-04 02:16:28.951] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-04 02:16:28.951] [info] Accepted new action goal ×2 + 2.17sINFOros2_control_node[2026-09-04 02:16:29.353] [info] Received new action goal ×2 + 2.17sINFOros2_control_node[2026-09-04 02:16:29.353] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759513 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759513 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-04 02:16:30.265] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-04 02:16:30.265] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1788488190.27451491 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874506 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874506 ms (missed cycles : 2).[0m ×2 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788488190.91968846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 02:16:31.143] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 02:16:31.143] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745339 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745339 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296747 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296747 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358397 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358397 ms (missed cycles : 2).[0m ×2 + 6.47sINFOros2_control_node[2026-09-04 02:16:33.650] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 02:16:33.650] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580898 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580898 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766354 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766354 ms (missed cycles : 2).[0m ×2 + 9.64sWARNros2_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 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325463 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325463 ms (missed cycles : 4).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.328432 ms (missed cycles : 5). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.328432 ms (missed cycles : 5).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067649 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067649 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788488202.21978951 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259223 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259223 ms (missed cycles : 2).[0m ×2 + 15.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788488202.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.72sWARNros2_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 + 15.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788488202.93972588 seconds ×3 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5).[0m ×2 + 16.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.30sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.47sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 18.47sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791242 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_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 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.72sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.72sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.72sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626527 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626527 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.60sINFOros2_control_node[2026-09-04 02:17:28.682] [info] Received new action goal ×2 + 1.60sINFOros2_control_node[2026-09-04 02:17:28.683] [info] Accepted new action goal ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041990 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041990 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788488249.83927298 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841747 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841747 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788488250.62162900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371262 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371262 ms (missed cycles : 6).[0m ×2 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.80sINFOros2_control_node[2026-09-04 02:17:31.877] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-09-04 02:17:31.877] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.114772 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.114772 ms (missed cycles : 7).[0m ×2 + 5.66sWARNros2_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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979197 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979197 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604909 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604909 ms (missed cycles : 2).[0m ×2 + 8.49sINFOobjective_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 + 8.49sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.49sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.50sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.50sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764987 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764987 ms (missed cycles : 3).[0m ×2 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197722 ms (missed cycles : 7). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197722 ms (missed cycles : 7).[0m ×2 + 10.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 10.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.92sINFOros2_control_node[2026-09-04 02:17:37.995] [info] Received new action goal ×2 + 10.92sINFOros2_control_node[2026-09-04 02:17:37.995] [info] Accepted new action goal ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.034016 ms (missed cycles : 8). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.034016 ms (missed cycles : 8).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249763 ms (missed cycles : 5). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249763 ms (missed cycles : 5).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202509 ms (missed cycles : 2). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202509 ms (missed cycles : 2).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396649 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396649 ms (missed cycles : 3).[0m ×2 + 14.52sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788488261.60178876 seconds ×3 + 15.07sINFOobjective_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: ""
+ 15.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788488262.20635200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.30sINFOros2_control_node[2026-09-04 02:17:42.379] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-09-04 02:17:42.379] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574406 ms (missed cycles : 6). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574406 ms (missed cycles : 6).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741493 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741493 ms (missed cycles : 2).[0m ×2 + 16.57sINFOobjective_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 + 16.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029967 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029967 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 57 warnings · 2254 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383448 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383448 ms (missed cycles : 2).[0m ×2 + 8.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.94sINFOobjective_server_nodeFound path in 1 iterations (0.00395767 s). ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814679 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814679 ms (missed cycles : 2).[0m ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.25sINFOros2_control_node[2026-09-04 02:18:54.075] [info] Received new action goal ×2 + 9.25sINFOros2_control_node[2026-09-04 02:18:54.075] [info] Accepted new action goal ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747795 ms (missed cycles : 5). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747795 ms (missed cycles : 5).[0m ×2 + 11.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 11.56sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 11.56sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.37sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 14.44sINFOobjective_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 + 14.45sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 14.45sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 14.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 14.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.03sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 15.32sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 15.32sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 17.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219619 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219619 ms (missed cycles : 2).[0m ×2 + 0.26sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.54sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788488177.04160333 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416927 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416927 ms (missed cycles : 2).[0m ×2 + 1.51sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868633 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868633 ms (missed cycles : 5).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278306 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278306 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788488179.88511467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 02:16:20.089] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 02:16:20.089] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571092 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571092 ms (missed cycles : 5).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.715506 ms (missed cycles : 9). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.715506 ms (missed cycles : 9).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653367 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653367 ms (missed cycles : 6).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.454488 ms (missed cycles : 6). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.454488 ms (missed cycles : 6).[0m ×2 + 8.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034295 ms (missed cycles : 4). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034295 ms (missed cycles : 4).[0m ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 1 iterations (0.00312424 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 2 iterations (0.00520583 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 1 iterations (0.00329316 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.26sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.54sINFOros2_control_node[2026-09-04 02:16:26.012] [info] Received new action goal ×2 + 9.54sINFOros2_control_node[2026-09-04 02:16:26.012] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803877 ms (missed cycles : 5). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803877 ms (missed cycles : 5).[0m ×2 + 9.79sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515892 ms (missed cycles : 6). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515892 ms (missed cycles : 6).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523589 ms (missed cycles : 7). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523589 ms (missed cycles : 7).[0m ×2 + 12.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.07sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.09sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 12.21sINFOobjective_server_nodeFound path in 1 iterations (0.00340964 s). ×2 + 12.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.48sINFOros2_control_node[2026-09-04 02:16:28.951] [info] Received new action goal ×2 + 12.48sINFOros2_control_node[2026-09-04 02:16:28.951] [info] Accepted new action goal ×2 + 12.88sINFOros2_control_node[2026-09-04 02:16:29.353] [info] Received new action goal ×2 + 12.88sINFOros2_control_node[2026-09-04 02:16:29.353] [info] Accepted new action goal ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759513 ms (missed cycles : 5). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759513 ms (missed cycles : 5).[0m ×2 + 13.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOros2_control_node[2026-09-04 02:16:30.265] [info] Got request to cancel active goal. ×2 + 13.79sINFOros2_control_node[2026-09-04 02:16:30.265] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1788488190.27451491 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874506 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874506 ms (missed cycles : 2).[0m ×2 + 14.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788488190.91968846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 14.67sINFOros2_control_node[2026-09-04 02:16:31.143] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-09-04 02:16:31.143] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745339 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745339 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296747 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296747 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358397 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358397 ms (missed cycles : 2).[0m ×2 + 17.17sINFOros2_control_node[2026-09-04 02:16:33.650] [info] Received new action goal ×2 + 17.17sINFOros2_control_node[2026-09-04 02:16:33.650] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921270 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921270 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764370 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764370 ms (missed cycles : 5).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351748 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351748 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470004 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470004 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788488360.75273871 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.97sINFOobjective_server_nodecaller: ×8 + 3.97sINFOobjective_server_nodetype: 0 ×8 + 3.97sINFOobjective_server_nodename: "" ×8 + 3.97sINFOobjective_server_nodeinstance_id: "" ×8 + 3.97sINFOobjective_server_node ×8 + 4.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788488361.40287375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-09-04 02:19:21.537] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 02:19:21.537] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756502 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756502 ms (missed cycles : 5).[0m ×2 + 4.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776309 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776309 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640282 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640282 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106580 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106580 ms (missed cycles : 4).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549047 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549047 ms (missed cycles : 3).[0m ×2 + 8.90sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024877 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024877 ms (missed cycles : 2).[0m ×2 + 10.55sWARNros2_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 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181887 ms (missed cycles : 4). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181887 ms (missed cycles : 4).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 14.39sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488371.76315856 seconds ×3 + 14.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 15.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 15.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.67sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 16.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.28sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.45sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 16.45sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.45sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 16.45sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 17.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086978 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120478 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120478 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.81sINFOros2_control_node[2026-09-04 02:15:33.882] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-04 02:15:33.882] [info] Accepted new action goal ×2 + 2.29sINFOobjective_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 + 2.29sINFOros2_control_node[2026-09-04 02:15:34.368] [info] Got request to cancel active goal. ×2 + 2.29sINFOros2_control_node[2026-09-04 02:15:34.368] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1788488134.38412285 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551889 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551889 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_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: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788488135.00193763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 02:15:35.226] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 02:15:35.226] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163160 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163160 ms (missed cycles : 2).[0m ×2 + 3.66sWARNros2_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412973 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412973 ms (missed cycles : 2).[0m ×2 + 5.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.43sINFOros2_control_node[2026-09-04 02:15:37.507] [info] Received new action goal ×2 + 5.43sINFOros2_control_node[2026-09-04 02:15:37.507] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599829 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599829 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003401 ms (missed cycles : 7). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003401 ms (missed cycles : 7).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.094253 ms (missed cycles : 8). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.094253 ms (missed cycles : 8).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486492 ms (missed cycles : 6). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486492 ms (missed cycles : 6).[0m ×2 + 9.73sWARNros2_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 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547479 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547479 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 13.29sERRORobjective_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: 1788488145.36251092 seconds ×3 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 14.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.90sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 15.77sWARNros2_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 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 55 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785170 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785170 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846091 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846091 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367622 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367622 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800689 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800689 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.797207 ms (missed cycles : 6). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.797207 ms (missed cycles : 6).[0m ×2 + 11.86sWARNros2_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 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964372 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964372 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505833 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505833 ms (missed cycles : 3).[0m ×2 + 14.16sERRORobjective_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: 1788488350.26369882 seconds ×3 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.76sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788488350.85815334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412012 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412012 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.06sINFOros2_control_node[2026-09-04 02:19:11.156] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-04 02:19:11.156] [info] Accepted new action goal ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319902 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319902 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710744 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710744 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 57 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.59sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.59sINFOobjective_server_nodecaller: ×12 + 0.59sINFOobjective_server_nodetype: 0 ×12 + 0.59sINFOobjective_server_nodename: "" ×12 + 0.59sINFOobjective_server_nodeinstance_id: "" ×12 + 0.59sINFOobjective_server_node ×12 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.61sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.14sINFOros2_control_node[2026-09-04 02:15:26.742] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-09-04 02:15:26.742] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592615 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592615 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170551 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170551 ms (missed cycles : 4).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699384 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699384 ms (missed cycles : 2).[0m ×2 + 9.08sWARNros2_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 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229218 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229218 ms (missed cycles : 2).[0m ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.94sINFOros2_control_node[2026-09-04 02:15:30.542] [info] Received new action goal ×2 + 9.94sINFOros2_control_node[2026-09-04 02:15:30.542] [info] Accepted new action goal ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991504 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991504 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086978 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086978 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120478 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120478 ms (missed cycles : 2).[0m ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.28sINFOros2_control_node[2026-09-04 02:15:33.882] [info] Received new action goal ×2 + 13.28sINFOros2_control_node[2026-09-04 02:15:33.882] [info] Accepted new action goal ×2 + 13.76sINFOobjective_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 + 13.77sINFOros2_control_node[2026-09-04 02:15:34.368] [info] Got request to cancel active goal. ×2 + 13.77sINFOros2_control_node[2026-09-04 02:15:34.368] [info] Canceling active goal... ×2 + 13.78sERRORobjective_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: 1788488134.38412285 seconds ×3 + 13.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551889 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551889 ms (missed cycles : 4).[0m ×2 + 14.32sINFOobjective_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: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788488135.00193763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 14.62sINFOros2_control_node[2026-09-04 02:15:35.226] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-04 02:15:35.226] [info] Accepted new action goal ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163160 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163160 ms (missed cycles : 2).[0m ×2 + 15.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412973 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412973 ms (missed cycles : 2).[0m ×2 + 16.89sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 16.90sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.91sINFOros2_control_node[2026-09-04 02:15:37.507] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-09-04 02:15:37.507] [info] Accepted new action goal ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599829 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599829 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 60 warnings · 188 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 ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 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 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129266 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129266 ms (missed cycles : 2).[0m ×2 + 7.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.41sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278802 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278802 ms (missed cycles : 3).[0m ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 1 iterations (0.00352617 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 2 iterations (0.00712065 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 1 iterations (0.0035788 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.790697 ms (missed cycles : 8). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.790697 ms (missed cycles : 8).[0m ×2 + 8.66sINFOros2_control_node[2026-09-04 02:16:14.480] [info] Received new action goal ×2 + 8.66sINFOros2_control_node[2026-09-04 02:16:14.480] [info] Accepted new action goal ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389247 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389247 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219619 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219619 ms (missed cycles : 2).[0m ×2 + 10.92sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.19sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.19sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.20sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788488177.04160333 seconds ×3 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416927 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416927 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868633 ms (missed cycles : 5). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868633 ms (missed cycles : 5).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278306 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278306 ms (missed cycles : 5).[0m ×2 + 13.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.07sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788488179.88511467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.26sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 14.27sINFOros2_control_node[2026-09-04 02:16:20.089] [info] Received new action goal ×2 + 14.27sINFOros2_control_node[2026-09-04 02:16:20.089] [info] Accepted new action goal ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571092 ms (missed cycles : 5). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571092 ms (missed cycles : 5).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.715506 ms (missed cycles : 9). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.715506 ms (missed cycles : 9).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653367 ms (missed cycles : 6). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653367 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.8s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.00sINFOobjective_server_nodecaller: ×8 + 3.00sINFOobjective_server_nodetype: 0 ×8 + 3.00sINFOobjective_server_nodename: "" ×8 + 3.00sINFOobjective_server_nodeinstance_id: "" ×8 + 3.00sINFOobjective_server_node ×8 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877962 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877962 ms (missed cycles : 2).[0m ×2 + 7.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 1 iterations (0.00325672 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.55sINFOros2_control_node[2026-09-04 02:15:51.549] [info] Received new action goal ×2 + 8.55sINFOros2_control_node[2026-09-04 02:15:51.549] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364794 ms (missed cycles : 6). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364794 ms (missed cycles : 6).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576227 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576227 ms (missed cycles : 2).[0m ×2 + 10.85sINFOros2_control_node[2026-09-04 02:15:53.852] [info] Received new action goal ×2 + 10.85sINFOros2_control_node[2026-09-04 02:15:53.852] [info] Accepted new action goal ×2 + 10.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983645 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983645 ms (missed cycles : 2).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 12.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.63sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 12.63sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 13.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 15.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.20sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 15.36sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 15.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.38sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 15.38sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 1.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.28sERRORobjective_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: 1788488371.76315856 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.88sINFOobjective_server_nodecaller: ×14 + 1.88sINFOobjective_server_nodetype: 0 ×14 + 1.88sINFOobjective_server_nodename: "" ×14 + 1.88sINFOobjective_server_nodeinstance_id: "" ×14 + 1.88sINFOobjective_server_node ×14 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_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 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 4.21sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149256 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149256 ms (missed cycles : 4).[0m ×2 + 6.65sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.65sINFOros2_control_node[2026-09-04 02:19:37.137] [info] Received new action goal ×2 + 6.65sINFOros2_control_node[2026-09-04 02:19:37.137] [info] Accepted new action goal ×2 + 6.65sINFOros2_control_node[2026-09-04 02:19:37.137] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550062 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550062 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262872 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262872 ms (missed cycles : 2).[0m ×2 + 9.24sWARNros2_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 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446539 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446539 ms (missed cycles : 4).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 13.38sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 13.38sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 13.38sERRORobjective_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: 1788488383.86836410 seconds ×3 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 13.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sWARNros2_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 + 14.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 15.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 15.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 16.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.72sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 0.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.91sINFOros2_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 6.560872 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.43sINFOobjective_server_nodecaller: ×6 + 2.43sINFOobjective_server_nodetype: 0 ×6 + 2.43sINFOobjective_server_nodename: "" ×6 + 2.43sINFOobjective_server_nodeinstance_id: "" ×6 + 2.43sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724264 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724264 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.71sINFOros2_control_node[2026-09-04 02:16:01.739] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-09-04 02:16:01.739] [info] Accepted new action goal ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.049410 ms (missed cycles : 7). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.049410 ms (missed cycles : 7).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727255 ms (missed cycles : 6). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727255 ms (missed cycles : 6).[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 9.06sINFOros2_control_node[2026-09-04 02:16:04.087] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-09-04 02:16:04.087] [info] Accepted new action goal ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770194 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770194 ms (missed cycles : 3).[0m ×2 + 10.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.41sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 11.41sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 13.33sINFOobjective_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 + 13.33sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 13.33sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 13.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488168.37761092 seconds ×3 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 14.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 14.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.19sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 16.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 61 errors · 39 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 0.44sINFOobjective_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 + 0.45sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 0.45sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 0.46sERRORobjective_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: 1788488383.86836410 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.00sINFOobjective_server_nodecaller: ×8 + 1.00sINFOobjective_server_nodetype: 0 ×8 + 1.00sINFOobjective_server_nodename: "" ×8 + 1.00sINFOobjective_server_nodeinstance_id: "" ×8 + 1.00sINFOobjective_server_node ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.50sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488387.78210330 seconds ×3 + 4.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215340 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215340 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665416 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665416 ms (missed cycles : 4).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476842 ms (missed cycles : 4). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476842 ms (missed cycles : 4).[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112087 ms (missed cycles : 4). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112087 ms (missed cycles : 4).[0m ×2 + 10.15sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.16sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_video_auth_proxy-23process has died [pid 7487, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.16sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.16sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge_auth_proxy-22process has died [pid 7479, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.16sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.18sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.18sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.19sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.19sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.19sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.20sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.20sINFOvideo_server-21process has finished cleanly [pid 7478] ×2 + 10.20sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.20sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.21sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.21sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.22sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.22sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.23sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.23sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.23sINFOcontroller_managerShutdown request received.... + 10.24sINFOvideo_server2026/09/04 02:19:53 INF shutting down gracefully ×2 + 10.24sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.24sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.24sINFOvideo_server2026/09/04 02:19:53 INF [WebRTC] closing ×2 + 10.24sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.24sINFOvideo_server2026/09/04 02:19:53 INF [RTSP] closing ×2 + 10.24sINFOvideo_server2026/09/04 02:19:53 INF waiting for running hooks ×2 + 10.24sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.24sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.24sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.24sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.24sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.24sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.24sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.24sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.24sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.24sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.24sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.24sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.24sERRORmove_groupStack trace (most recent call last) in thread 7852: ×2 + 10.24sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.24sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.24sINFOcontroller_managerShutting down the controller manager. + 10.24sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.24sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.24sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff68d51da63, in __clone ×2 + 10.24sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff68d490aa3, in ×2 + 10.24sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff68d722db3, in ×2 + 10.24sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.24sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ff68de87a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.24sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.25sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff68dab4620, in rclcpp::Rate::sleep() ×2 + 10.25sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff68d9f6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.25sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff68d9b8087, in ×2 + 10.25sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff68d6f1390, in __cxa_throw ×2 + 10.25sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff68d6dba54, in std::terminate() ×2 + 10.25sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff68d6f10d9, in ×2 + 10.25sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff68d6dbff4, in ×2 + 10.25sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff68d41c8fe, in abort ×2 + 10.25sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff68d43927d, in raise ×2 + 10.25sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff68d492b2c, in pthread_kill ×2 + 10.25sERRORmove_groupAborted (Signal sent by tkill() 7398 0) ×2 + 10.25sERRORmove_group-9process has died [pid 7398, 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__1bcgc36 --params-file /tmp/launch_params_dif2opp2 --params-file /tmp/launch_params_rq4alouh --params-file /tmp/launch_params_mk6lig5q --params-file /tmp/launch_params_26jjca9e --params-file /tmp/launch_params_zp90jgee']. ×2 + 10.44sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.44sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.23sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7477] ×2 + 11.23sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.26sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7402] ×2 + 11.26sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7401] ×2 + 11.30sINFOexecute_objective_bridge-17process has finished cleanly [pid 7406] ×2 + 11.30sINFOcomponent_container_mt-16process has finished cleanly [pid 7405] ×2 + 11.30sINFOwaypoint_manager_node-11process has finished cleanly [pid 7400] ×2 + 11.31sINFOui_teleop_bridge-18process has finished cleanly [pid 7407] ×2 + 11.31sINFOparameter_manager_node-10process has finished cleanly [pid 7399] ×2 + 11.39sINFOobjective_server_node[0;m[2026-09-04 02:19:54.801] [moveit_pro_license] [info] ×2 + 11.39sINFOobjective_server_node************************************************* ×4 + 11.39sINFOobjective_server_node* MoveIt Pro License ×2 + 11.39sINFOobjective_server_node* Application has successfully terminated ×2 + 11.52sINFOobjective_server_node_main-14process has finished cleanly [pid 7403] ×2 + 11.52sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.40sINFOcomponent_container_mt-15process has finished cleanly [pid 7404] ×2 + 12.72sINFOweb_bridge-19process has finished cleanly [pid 7416] ×2 + 12.72sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.87sINFOros2_control_node-1process has finished cleanly [pid 7357] ×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 9.797207 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.797207 ms (missed cycles : 6).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964372 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964372 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505833 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505833 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1788488350.26369882 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788488350.85815334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412012 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412012 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.31sINFOros2_control_node[2026-09-04 02:19:11.156] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-04 02:19:11.156] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319902 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319902 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710744 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710744 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842263 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842263 ms (missed cycles : 5).[0m ×2 + 7.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 7.32sINFOros2_control_node[2026-09-04 02:19:15.168] [info] Received new action goal ×2 + 7.32sINFOros2_control_node[2026-09-04 02:19:15.168] [info] Accepted new action goal ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728759 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728759 ms (missed cycles : 5).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732779 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732779 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921270 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921270 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764370 ms (missed cycles : 5). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764370 ms (missed cycles : 5).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351748 ms (missed cycles : 5). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351748 ms (missed cycles : 5).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470004 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470004 ms (missed cycles : 3).[0m ×2 + 12.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788488360.75273871 seconds ×3 + 13.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.50sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788488361.40287375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.68sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 13.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.69sINFOros2_control_node[2026-09-04 02:19:21.537] [info] Received new action goal ×2 + 13.69sINFOros2_control_node[2026-09-04 02:19:21.537] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756502 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756502 ms (missed cycles : 5).[0m ×2 + 13.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776309 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776309 ms (missed cycles : 2).[0m ×2 + 15.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640282 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640282 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788488202.21978951 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259223 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259223 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.63sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.63sINFOobjective_server_nodecaller: ×6 + 2.63sINFOobjective_server_nodetype: 0 ×6 + 2.63sINFOobjective_server_nodename: "" ×6 + 2.63sINFOobjective_server_nodeinstance_id: "" ×6 + 2.63sINFOobjective_server_node ×6 + 2.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788488202.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNros2_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 + 2.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788488202.93972588 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 7.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.04sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.19sINFOobjective_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 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.52sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 7.52sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 9.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.8s | 36 warnings · 691 info |
+ 0.00sINFOcomponent_container_mt[2026-09-04 02:15:16.049] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.20sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.20sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.20sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.20sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.20sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.20sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.20sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.20sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.20sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.20sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.20sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.20sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.20sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.20sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.20sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.20sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.20sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.20sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.20sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.20sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.20sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.20sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.20sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.20sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.20sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.20sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.20sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.20sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.20sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.20sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.20sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOforce_torque_sensor_broadcasterconfigure successful + 0.42sINFOros2_control_nodeconfigure successful[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.42sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.42sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.70sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.70sINFOros2_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 + 0.70sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.71sWARNros2_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 + 0.71sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.71sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.76sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.77sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.77sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.77sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.77sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.77sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.77sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681361 ms (missed cycles : 2). + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681361 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.79sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.79sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.79sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.80sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.07sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.07sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.08sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.12sINFOros2-5process has finished cleanly [pid 7372] ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 1.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 1.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.26sINFOros2_control_node[2026-09-04 02:15:17.305] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.26sINFOros2_control_node[2026-09-04 02:15:17.305] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.28sINFOros2_control_node[2026-09-04 02:15:17.332] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.28sINFOros2_control_node[2026-09-04 02:15:17.332] [info] Controller state will be published at 50 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-04 02:15:17.338] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.52sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.52sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.52sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 1.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 1.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.55sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.56sINFOros2-6process has finished cleanly [pid 7373] ×2 + 1.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.86sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.86sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.86sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 1.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 1.94sINFOros2-3process has finished cleanly [pid 7359] ×2 + 1.96sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.97sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.97sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.97sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-09-04 02:15:18.054] [info] Controller state will be published at 10 Hz. ×2 + 2.01sINFOros2_control_node[2026-09-04 02:15:18.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2).[0m ×2 + 2.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.35sINFOros2-7process has finished cleanly [pid 7374] ×2 + 2.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 2.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 2.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.47sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 2.47sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.75sINFOobjective_server_nodecaller: ×14 + 2.75sINFOobjective_server_nodetype: 0 ×14 + 2.75sINFOobjective_server_nodename: "" ×14 + 2.75sINFOobjective_server_nodeinstance_id: "" ×14 + 2.75sINFOobjective_server_node ×14 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 2.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 2.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.85sINFOros2-8process has finished cleanly [pid 7375] ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.20sINFOros2-4process has finished cleanly [pid 7371] ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 4.31sWARNros2_control_nodeCamera render tick took 1.89 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 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 6.88sWARNros2_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 + 7.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 7.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.17sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1788488383.86836410 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.07sINFOobjective_server_nodecaller: ×8 + 3.07sINFOobjective_server_nodetype: 0 ×8 + 3.07sINFOobjective_server_nodename: "" ×8 + 3.07sINFOobjective_server_nodeinstance_id: "" ×8 + 3.07sINFOobjective_server_node ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488387.78210330 seconds ×3 + 6.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5).[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 5.886533 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 0.44sINFOobjective_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 + 0.45sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 0.45sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 0.46sERRORobjective_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: 1788488383.86836410 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.00sINFOobjective_server_nodecaller: ×8 + 1.00sINFOobjective_server_nodetype: 0 ×8 + 1.00sINFOobjective_server_nodename: "" ×8 + 1.00sINFOobjective_server_nodeinstance_id: "" ×8 + 1.00sINFOobjective_server_node ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.50sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488387.78210330 seconds ×3 + 4.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215340 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215340 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 4.381532 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788488371.76315856 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_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 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067649 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788488202.21978951 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.17sINFOros2_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 2.259223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259223 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788488202.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788488202.93972588 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:15:53.852] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:15:53.852] [info] Accepted new action goal ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983645 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983645 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.53sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.09sWARNobjective_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 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.054] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.88sINFOobjective_server_nodecaller: ×14 + 0.88sINFOobjective_server_nodetype: 0 ×14 + 0.88sINFOobjective_server_nodename: "" ×14 + 0.88sINFOobjective_server_nodeinstance_id: "" ×14 + 0.88sINFOobjective_server_node ×14 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOros2-8process has finished cleanly [pid 7375] ×2 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_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 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3).[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 4.381532 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788488371.76315856 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_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 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3).[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 6.324426 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 1.47sINFOobjective_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 + 1.47sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 1.47sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 1.48sERRORobjective_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: 1788488383.86836410 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.02sINFOobjective_server_nodecaller: ×8 + 2.02sINFOobjective_server_nodetype: 0 ×8 + 2.02sINFOobjective_server_nodename: "" ×8 + 2.02sINFOobjective_server_nodeinstance_id: "" ×8 + 2.02sINFOobjective_server_node ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.53sINFOobjective_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 + 3.53sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 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 2.764557 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764557 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488387.78210330 seconds ×3 + 5.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515140 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 0.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3).[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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3).[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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3).[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 3.722839 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722839 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738241 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961482 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sERRORobjective_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: 1788488145.36251092 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788488146.05250335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788488146.13262653 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716511 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788488146.77456450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.978] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 02:15:46.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823656 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 0.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 0.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 0.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.406381 ms (missed cycles : 6).[0m ×2 + 0.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 02:15:55.633] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622393 ms (missed cycles : 6).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788488156.92048120 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560872 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788488157.53570843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788488157.61583233 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788488158.25506544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794638 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 02:15:58.380] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703553 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 79 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481358 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 02:16:06.446] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646892 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310277 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 02:16:08.365] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1788488168.37761092 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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 ] + 2.60sINFOros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788488169.00919795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699577 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 02:16:09.223] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939146 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832693 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515892 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515892 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523589 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523589 ms (missed cycles : 7).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.50sINFOobjective_server_nodeFound path in 1 iterations (0.00340964 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOros2_control_node[2026-09-04 02:16:28.951] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-04 02:16:28.951] [info] Accepted new action goal ×2 + 2.17sINFOros2_control_node[2026-09-04 02:16:29.353] [info] Received new action goal ×2 + 2.17sINFOros2_control_node[2026-09-04 02:16:29.353] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759513 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759513 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-04 02:16:30.265] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-04 02:16:30.265] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1788488190.27451491 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874506 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874506 ms (missed cycles : 2).[0m ×2 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788488190.91968846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 02:16:31.143] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 02:16:31.143] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745339 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745339 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296747 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296747 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358397 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358397 ms (missed cycles : 2).[0m ×2 + 6.47sINFOros2_control_node[2026-09-04 02:16:33.650] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 02:16:33.650] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067649 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034534 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426929 ms (missed cycles : 6).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788488202.21978951 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.17sINFOros2_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 2.259223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259223 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788488202.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788488202.93972588 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433493 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788488203.53986025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:16:43.653] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619927 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123471 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788488205.66000605 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827735 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788488207.29903150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241989 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 02:16:47.716] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618426 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931903 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.034016 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.034016 ms (missed cycles : 8).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249763 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249763 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202509 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202509 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396649 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396649 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788488261.60178876 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788488262.20635200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:17:42.379] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:17:42.379] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574406 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574406 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741493 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741493 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_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 + 5.32sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029967 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029967 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781730 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912968 ms (missed cycles : 4).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294664 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788488328.12382197 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509795 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788488328.83780956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 02:18:49.031] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836429 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.563051 ms (missed cycles : 9).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965577 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-04 02:18:56.378] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004663 ms (missed cycles : 2).[0m ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 02:18:58.191] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923813 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-04 02:18:59.268] [info] Canceling active goal... ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788488339.28250027 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808140 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788488339.94308925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 02:19:00.137] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796708 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066537 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591635 ms (missed cycles : 4).[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 9.797207 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.797207 ms (missed cycles : 6).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964372 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964372 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505833 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505833 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1788488350.26369882 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788488350.85815334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412012 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412012 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.31sINFOros2_control_node[2026-09-04 02:19:11.156] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-04 02:19:11.156] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319902 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319902 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710744 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710744 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921270 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921270 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764370 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764370 ms (missed cycles : 5).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351748 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351748 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470004 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470004 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788488360.75273871 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788488361.40287375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-09-04 02:19:21.537] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 02:19:21.537] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756502 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756502 ms (missed cycles : 5).[0m ×2 + 4.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776309 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776309 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640282 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640282 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 4.381532 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788488371.76315856 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_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 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[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 4.381532 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788488371.76315856 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_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 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[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 4.381532 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788488371.76315856 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_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 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[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 4.381532 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381532 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788488371.76315856 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_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 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[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 8.444826 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 1.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sERRORobjective_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: 1788488371.76315856 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.88sINFOobjective_server_nodecaller: ×6 + 1.88sINFOobjective_server_nodetype: 0 ×6 + 1.88sINFOobjective_server_nodename: "" ×6 + 1.88sINFOobjective_server_nodeinstance_id: "" ×6 + 1.88sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_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 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 4.21sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3).[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 8.444826 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 1.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sERRORobjective_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: 1788488371.76315856 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.88sINFOobjective_server_nodecaller: ×6 + 1.88sINFOobjective_server_nodetype: 0 ×6 + 1.88sINFOobjective_server_nodename: "" ×6 + 1.88sINFOobjective_server_nodeinstance_id: "" ×6 + 1.88sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_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 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 4.21sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3).[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 8.444826 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444826 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217985 ms (missed cycles : 4).[0m ×2 + 1.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sERRORobjective_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: 1788488371.76315856 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.88sINFOobjective_server_nodecaller: ×6 + 1.88sINFOobjective_server_nodetype: 0 ×6 + 1.88sINFOobjective_server_nodename: "" ×6 + 1.88sINFOobjective_server_nodeinstance_id: "" ×6 + 1.88sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788488372.42366171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788488372.49379802 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641505 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788488373.09104300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_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 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788488373.11323929 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788488373.71318340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 02:19:33.826] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490282 ms (missed cycles : 2).[0m ×2 + 4.21sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743366 ms (missed cycles : 4).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826582 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1788488383.86836410 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.07sINFOobjective_server_nodecaller: ×8 + 3.07sINFOobjective_server_nodetype: 0 ×8 + 3.07sINFOobjective_server_nodename: "" ×8 + 3.07sINFOobjective_server_nodeinstance_id: "" ×8 + 3.07sINFOobjective_server_node ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206884 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324426 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886533 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-09-04 02:19:43.863] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1788488383.86836410 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.07sINFOobjective_server_nodecaller: ×8 + 3.07sINFOobjective_server_nodetype: 0 ×8 + 3.07sINFOobjective_server_nodename: "" ×8 + 3.07sINFOobjective_server_nodeinstance_id: "" ×8 + 3.07sINFOobjective_server_node ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194372 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488384.47705603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488385.31798506 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066496 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788488385.91428232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788488385.91625285 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788488386.51004839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788488386.51062942 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933511 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488387.25198531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_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 | 7.2s | 40 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-02-15-11-722715-ff61a31aee25-7309 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_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. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363296 ms (missed cycles : 4). + 0.81sINFOros2_control_node-1process started with pid [7357] ×2 + 0.81sINFOmove_group-9process started with pid [7398] ×2 + 0.81sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.81sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.81sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.82sINFOweb_bridge-19process started with pid [7416] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7477] ×2 + 0.82sINFOvideo_server-21process started with pid [7478] ×2 + 0.82sINFOweb_bridge_auth_proxy-22process started with pid [7479] ×2 + 0.82sINFOweb_video_auth_proxy-23process started with pid [7487] ×2 + 0.84sINFOros2-2process started with pid [7358] ×2 + 0.84sINFOros2-3process started with pid [7359] ×2 + 0.84sINFOros2-4process started with pid [7371] ×2 + 0.84sINFOros2-5process started with pid [7372] ×2 + 0.84sINFOros2-6process started with pid [7373] ×2 + 0.84sINFOros2-7process started with pid [7374] ×2 + 0.84sINFOros2-8process started with pid [7375] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_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 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363296 ms (missed cycles : 4).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF configuration loaded from /tmp/moveit-webrtc-gro_kwdk/mediamtx.yml ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.58sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.98sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.98sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.99sINFOros2_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 + 1.99sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.05sINFOmove_group[2026-09-04 02:15:14.156] [moveit_pro_license] [info] ×2 + 2.05sINFOmove_group************************************************* ×4 + 2.05sINFOmove_group* MoveIt Pro License ×2 + 2.05sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405485 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405485 ms (missed cycles : 2).[0m ×2 + 2.29sINFOwaypoint_manager_node[2026-09-04 02:15:14.394] [moveit_pro_license] [info] ×2 + 2.29sINFOwaypoint_manager_node************************************************* ×4 + 2.29sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.29sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.42sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.63sINFOmove_group ×4 + 2.63sINFOmove_group[92mYou can start planning now![0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOobjective_server_node[2026-09-04 02:15:15.627] [moveit_pro_license] [info] ×2 + 3.52sINFOobjective_server_node************************************************* ×4 + 3.52sINFOobjective_server_node* MoveIt Pro License ×2 + 3.52sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.64sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.64sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.66sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.94sINFOcomponent_container_mt[2026-09-04 02:15:16.049] [moveit_pro_license] [info] ×2 + 3.94sINFOcomponent_container_mt************************************************* ×4 + 3.94sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.14sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.14sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.14sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.14sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.14sWARNros2_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 + 4.14sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.14sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.14sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.14sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.14sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.14sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.14sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.14sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.14sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.14sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.33sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.33sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.34sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 4.34sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 4.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.36sINFOforce_torque_sensor_broadcasterconfigure successful + 4.36sINFOros2_control_nodeconfigure successful[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.36sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.65sINFOros2_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 + 4.65sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.65sWARNros2_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 + 4.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 4.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 4.70sINFOros2-2process has finished cleanly [pid 7358] ×2 + 4.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681361 ms (missed cycles : 2). + 4.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681361 ms (missed cycles : 2).[0m ×2 + 4.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.06sINFOros2-5process has finished cleanly [pid 7372] ×2 + 5.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 5.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 5.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.20sINFOros2_control_node[2026-09-04 02:15:17.305] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.20sINFOros2_control_node[2026-09-04 02:15:17.305] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.23sINFOros2_control_node[2026-09-04 02:15:17.332] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.23sINFOros2_control_node[2026-09-04 02:15:17.332] [info] Controller state will be published at 50 Hz. ×2 + 5.23sINFOros2_control_node[2026-09-04 02:15:17.338] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 5.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 5.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.50sINFOros2-6process has finished cleanly [pid 7373] ×2 + 5.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 5.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 5.88sINFOros2-3process has finished cleanly [pid 7359] ×2 + 5.90sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.95sINFOros2_control_node[2026-09-04 02:15:18.054] [info] Controller state will be published at 10 Hz. ×2 + 5.95sINFOros2_control_node[2026-09-04 02:15:18.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.30sINFOros2-7process has finished cleanly [pid 7374] ×2 + 6.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 6.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 6.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.42sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 6.42sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.69sINFOobjective_server_nodecaller: ×10 + 6.69sINFOobjective_server_nodetype: 0 ×10 + 6.69sINFOobjective_server_nodename: "" ×10 + 6.69sINFOobjective_server_nodeinstance_id: "" ×10 + 6.69sINFOobjective_server_node ×10 + 6.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.75sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 6.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 6.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 6.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.79sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.80sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.80sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.80sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.80sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.80sINFOros2-8process has finished cleanly [pid 7375] ×2 + 6.81sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.81sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.81sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.81sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.15sINFOros2-4process has finished cleanly [pid 7371] ×2 + 7.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 8.26sWARNros2_control_nodeCamera render tick took 1.89 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 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 8.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 9.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 9.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 10.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 10.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 345 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7371] ×2 + 0.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.16sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.16sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.16sINFOobjective_server_nodecaller: ×12 + 0.16sINFOobjective_server_nodetype: 0 ×12 + 0.16sINFOobjective_server_nodename: "" ×12 + 0.16sINFOobjective_server_nodeinstance_id: "" ×12 + 0.16sINFOobjective_server_node ×12 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 1.11sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.96sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 7.02sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 437 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.06sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.18sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.46sINFOobjective_server_nodecaller: ×14 + 0.46sINFOobjective_server_nodetype: 0 ×14 + 0.46sINFOobjective_server_nodename: "" ×14 + 0.46sINFOobjective_server_nodeinstance_id: "" ×14 + 0.46sINFOobjective_server_node ×14 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.52sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.52sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.52sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 0.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.56sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sINFOros2-8process has finished cleanly [pid 7375] ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.58sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.58sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 2.02sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.38sINFOros2_control_node[2026-09-04 02:15:26.742] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-09-04 02:15:26.742] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 161 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-02-15-11-722715-ff61a31aee25-7309 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_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. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363296 ms (missed cycles : 4). + 0.81sINFOros2_control_node-1process started with pid [7357] ×2 + 0.81sINFOmove_group-9process started with pid [7398] ×2 + 0.81sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.81sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.81sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.82sINFOweb_bridge-19process started with pid [7416] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7477] ×2 + 0.82sINFOvideo_server-21process started with pid [7478] ×2 + 0.82sINFOweb_bridge_auth_proxy-22process started with pid [7479] ×2 + 0.82sINFOweb_video_auth_proxy-23process started with pid [7487] ×2 + 0.84sINFOros2-2process started with pid [7358] ×2 + 0.84sINFOros2-3process started with pid [7359] ×2 + 0.84sINFOros2-4process started with pid [7371] ×2 + 0.84sINFOros2-5process started with pid [7372] ×2 + 0.84sINFOros2-6process started with pid [7373] ×2 + 0.84sINFOros2-7process started with pid [7374] ×2 + 0.84sINFOros2-8process started with pid [7375] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_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 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363296 ms (missed cycles : 4).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF configuration loaded from /tmp/moveit-webrtc-gro_kwdk/mediamtx.yml ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.25sINFOvideo_server2026/09/04 02:15:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.58sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.98sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.98sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.99sINFOros2_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 + 1.99sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.05sINFOmove_group[2026-09-04 02:15:14.156] [moveit_pro_license] [info] ×2 + 2.05sINFOmove_group************************************************* ×4 + 2.05sINFOmove_group* MoveIt Pro License ×2 + 2.05sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405485 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405485 ms (missed cycles : 2).[0m ×2 + 2.29sINFOwaypoint_manager_node[2026-09-04 02:15:14.394] [moveit_pro_license] [info] ×2 + 2.29sINFOwaypoint_manager_node************************************************* ×4 + 2.29sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.29sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.42sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.63sINFOmove_group ×4 + 2.63sINFOmove_group[92mYou can start planning now![0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOobjective_server_node[2026-09-04 02:15:15.627] [moveit_pro_license] [info] ×2 + 3.52sINFOobjective_server_node************************************************* ×4 + 3.52sINFOobjective_server_node* MoveIt Pro License ×2 + 3.52sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.09sWARNobjective_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 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.054] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.88sINFOobjective_server_nodecaller: ×14 + 0.88sINFOobjective_server_nodetype: 0 ×14 + 0.88sINFOobjective_server_nodename: "" ×14 + 0.88sINFOobjective_server_nodeinstance_id: "" ×14 + 0.88sINFOobjective_server_node ×14 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOros2-8process has finished cleanly [pid 7375] ×2 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_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 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.09sWARNobjective_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 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.054] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.88sINFOobjective_server_nodecaller: ×14 + 0.88sINFOobjective_server_nodetype: 0 ×14 + 0.88sINFOobjective_server_nodename: "" ×14 + 0.88sINFOobjective_server_nodeinstance_id: "" ×14 + 0.88sINFOobjective_server_node ×14 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOros2-8process has finished cleanly [pid 7375] ×2 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_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 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.09sWARNobjective_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 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.054] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 02:15:18.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242897 ms (missed cycles : 2).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.88sINFOobjective_server_nodecaller: ×14 + 0.88sINFOobjective_server_nodetype: 0 ×14 + 0.88sINFOobjective_server_nodename: "" ×14 + 0.88sINFOobjective_server_nodeinstance_id: "" ×14 + 0.88sINFOobjective_server_node ×14 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOros2-8process has finished cleanly [pid 7375] ×2 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_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 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 437 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.06sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.18sINFOros2_control_node[2026-09-04 02:15:18.521] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-04 02:15:18.522] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.46sINFOobjective_server_nodecaller: ×14 + 0.46sINFOobjective_server_nodetype: 0 ×14 + 0.46sINFOobjective_server_nodename: "" ×14 + 0.46sINFOobjective_server_nodeinstance_id: "" ×14 + 0.46sINFOobjective_server_node ×14 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488118.85487199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.52sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.52sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.52sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488118.86521244 seconds ×3 + 0.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 + 0.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkct7xpv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bdxlns0a --params-file /tmp/launch_params_yaln5kc3 [0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.56sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sINFOros2-8process has finished cleanly [pid 7375] ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.58sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.58sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 2.02sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7371] ×2 + 0.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.16sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.16sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.16sINFOobjective_server_nodecaller: ×12 + 0.16sINFOobjective_server_nodetype: 0 ×12 + 0.16sINFOobjective_server_nodename: "" ×12 + 0.16sINFOobjective_server_nodeinstance_id: "" ×12 + 0.16sINFOobjective_server_node ×12 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788488119.46312141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016187 ms (missed cycles : 5).[0m ×2 + 1.11sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.96sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_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 | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_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 |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.38sINFOros2_control_node[2026-09-04 02:15:26.742] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-09-04 02:15:26.742] [info] Accepted new action goal ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592615 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592615 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778835 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788488120.62331653 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788488121.24401498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788488121.30421662 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873227 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488121.95997572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488121.98009968 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488122.56818414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587960 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488122.71883464 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488123.41093516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488123.47106504 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840695 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788488124.07791710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.2324e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 02:15:24.215] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469980 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990097 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||