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 | 163 warnings · 18990 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929928 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361656 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361656 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106402 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106402 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788490439.06935692 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_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: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788490439.68273950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.42sINFOros2_control_node[2026-09-04 02:53:59.826] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-04 02:53:59.826] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130463 ms (missed cycles : 6). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130463 ms (missed cycles : 6).[0m ×2 + 4.47sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362794 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362794 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363617 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363617 ms (missed cycles : 3).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674949 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674949 ms (missed cycles : 2).[0m ×2 + 6.87sINFOjoint_trajectory_controllerReceived new action goal ×3121 + 6.87sINFOjoint_trajectory_controllerAccepted new action goal ×3121 + 6.87sINFOros2_control_nodeReceived new action goal[0m ×6242 + 6.87sINFOros2_control_nodeAccepted new action goal[0m ×6242 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732685 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732685 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788899 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788899 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511996 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511996 ms (missed cycles : 2).[0m ×2 + 9.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991585 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991585 ms (missed cycles : 5).[0m ×2 + 11.75sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.75sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.75sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564057 ms (missed cycles : 6). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564057 ms (missed cycles : 6).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431677 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431677 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426378 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426378 ms (missed cycles : 2).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842175 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842175 ms (missed cycles : 2).[0m ×2 + 15.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491300 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491300 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820536 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820536 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826486 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826486 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694559 ms (missed cycles : 2). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694559 ms (missed cycles : 2).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485780 ms (missed cycles : 2). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485780 ms (missed cycles : 2).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369454 ms (missed cycles : 3). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369454 ms (missed cycles : 3).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345664 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345664 ms (missed cycles : 3).[0m ×2 + 22.93sWARNros2_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 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494770 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494770 ms (missed cycles : 3).[0m ×2 + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953829 ms (missed cycles : 2). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953829 ms (missed cycles : 2).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551571 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551571 ms (missed cycles : 3).[0m ×2 + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811117 ms (missed cycles : 2). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811117 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481130 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481130 ms (missed cycles : 2).[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870982 ms (missed cycles : 5). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870982 ms (missed cycles : 5).[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843946 ms (missed cycles : 2). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843946 ms (missed cycles : 2).[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.431815 ms (missed cycles : 7). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.431815 ms (missed cycles : 7).[0m ×2 + 30.79sWARNros2_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 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948345 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948345 ms (missed cycles : 2).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788281 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788281 ms (missed cycles : 2).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668970 ms (missed cycles : 2). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668970 ms (missed cycles : 2).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725237 ms (missed cycles : 2). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725237 ms (missed cycles : 2).[0m ×2 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842755 ms (missed cycles : 2). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842755 ms (missed cycles : 2).[0m ×2 + 36.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069007 ms (missed cycles : 4). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069007 ms (missed cycles : 4).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910236 ms (missed cycles : 2). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910236 ms (missed cycles : 2).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835375 ms (missed cycles : 2). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835375 ms (missed cycles : 2).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685890 ms (missed cycles : 2). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685890 ms (missed cycles : 2).[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624661 ms (missed cycles : 2). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624661 ms (missed cycles : 2).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304766 ms (missed cycles : 2). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304766 ms (missed cycles : 2).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255313 ms (missed cycles : 2). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255313 ms (missed cycles : 2).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578839 ms (missed cycles : 2). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578839 ms (missed cycles : 2).[0m ×2 + 45.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937481 ms (missed cycles : 3). + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937481 ms (missed cycles : 3).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469975 ms (missed cycles : 3). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469975 ms (missed cycles : 3).[0m ×2 + 46.93sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490483.45463347 seconds ×3 + 47.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918928 ms (missed cycles : 3). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918928 ms (missed cycles : 3).[0m ×2 + 47.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.69sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788490484.09034586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.73sINFOobjective_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 + 47.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.82sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 47.83sINFOros2_control_node[2026-09-04 02:54:44.234] [info] Received new action goal ×2 + 47.83sINFOros2_control_node[2026-09-04 02:54:44.234] [info] Accepted new action goal ×2 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287468 ms (missed cycles : 2). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287468 ms (missed cycles : 2).[0m ×2 + 48.70sWARNros2_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 + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261147 ms (missed cycles : 2). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261147 ms (missed cycles : 2).[0m ×2 + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466362 ms (missed cycles : 3). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466362 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 157 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 7.12sINFOros2_control_node[2026-09-04 02:53:08.148] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-04 02:53:08.148] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171140 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171140 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158895 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158895 ms (missed cycles : 3).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351643 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351643 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.39sINFOros2_control_node[2026-09-04 02:53:11.417] [info] Received new action goal ×2 + 10.39sINFOros2_control_node[2026-09-04 02:53:11.417] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892042 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892042 ms (missed cycles : 2).[0m ×2 + 10.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275745 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275745 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663162 ms (missed cycles : 5). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663162 ms (missed cycles : 5).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×4 + 13.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.41sINFOros2_control_node[2026-09-04 02:53:14.442] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-04 02:53:14.442] [info] Accepted new action goal ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976198 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976198 ms (missed cycles : 2).[0m ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.161912 ms (missed cycles : 5). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.161912 ms (missed cycles : 5).[0m ×2 + 16.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816134 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816134 ms (missed cycles : 2).[0m ×2 + 16.38sINFOobjective_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 + 16.38sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.38sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909417 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909417 ms (missed cycles : 2).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913844 ms (missed cycles : 5). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913844 ms (missed cycles : 5).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777618 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777618 ms (missed cycles : 2).[0m ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092949 ms (missed cycles : 5). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092949 ms (missed cycles : 5).[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190736 ms (missed cycles : 3). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190736 ms (missed cycles : 3).[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.658722 ms (missed cycles : 6). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.658722 ms (missed cycles : 6).[0m ×2 + 22.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506238 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506238 ms (missed cycles : 3).[0m ×2 + 23.95sINFOobjective_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 + 23.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.95sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.95sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.95sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.95sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.83sINFOros2_control_node[2026-09-04 02:53:25.857] [info] Received new action goal ×2 + 24.83sINFOros2_control_node[2026-09-04 02:53:25.857] [info] Accepted new action goal ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260838 ms (missed cycles : 4). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260838 ms (missed cycles : 4).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955516 ms (missed cycles : 3). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955516 ms (missed cycles : 3).[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 (2.35e-07 s). ×2 + 26.35sINFOros2_control_node[2026-09-04 02:53:27.376] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-09-04 02:53:27.376] [info] Accepted new action goal ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708933 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708933 ms (missed cycles : 2).[0m ×2 + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090533 ms (missed cycles : 2). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090533 ms (missed cycles : 2).[0m ×2 + 28.64sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 28.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.65sINFOros2_control_node[2026-09-04 02:53:29.678] [info] Received new action goal ×2 + 28.65sINFOros2_control_node[2026-09-04 02:53:29.678] [info] Accepted new action goal ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069144 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069144 ms (missed cycles : 2).[0m ×2 + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563021 ms (missed cycles : 5). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563021 ms (missed cycles : 5).[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011312 ms (missed cycles : 3). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011312 ms (missed cycles : 3).[0m ×2 + 31.78sINFOros2_control_node[2026-09-04 02:53:32.807] [info] Received new action goal ×2 + 31.78sINFOros2_control_node[2026-09-04 02:53:32.807] [info] Accepted new action goal ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428213 ms (missed cycles : 6). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428213 ms (missed cycles : 6).[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037312 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037312 ms (missed cycles : 4).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789576 ms (missed cycles : 2). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789576 ms (missed cycles : 2).[0m ×2 + 34.38sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 34.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.44sINFOros2_control_node[2026-09-04 02:53:35.464] [info] Received new action goal ×2 + 34.44sINFOros2_control_node[2026-09-04 02:53:35.464] [info] Accepted new action goal ×2 + 34.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506242 ms (missed cycles : 5). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506242 ms (missed cycles : 5).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255491 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255491 ms (missed cycles : 3).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923790 ms (missed cycles : 5). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923790 ms (missed cycles : 5).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567594 ms (missed cycles : 2). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567594 ms (missed cycles : 2).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265894 ms (missed cycles : 2). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265894 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414516 ms (missed cycles : 3). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414516 ms (missed cycles : 3).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996733 ms (missed cycles : 3). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996733 ms (missed cycles : 3).[0m ×2 + 42.30sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529320 ms (missed cycles : 3). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529320 ms (missed cycles : 3).[0m ×2 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986764 ms (missed cycles : 2). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986764 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150891 ms (missed cycles : 3). + 44.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150891 ms (missed cycles : 3).[0m ×2 + 45.09sINFOros2_control_node[2026-09-04 02:53:46.117] [info] Received new action goal ×2 + 45.09sINFOros2_control_node[2026-09-04 02:53:46.117] [info] Accepted new action goal ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151504 ms (missed cycles : 4). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151504 ms (missed cycles : 4).[0m ×2 + 46.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788490427.27386808 seconds ×3 + 46.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.84sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166719 ms (missed cycles : 5). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166719 ms (missed cycles : 5).[0m ×2 + 47.06sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788490428.08918738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925105 ms (missed cycles : 3). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925105 ms (missed cycles : 3).[0m ×2 + 48.31sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.33sINFOros2_control_node[2026-09-04 02:53:49.354] [info] Received new action goal ×2 + 48.33sINFOros2_control_node[2026-09-04 02:53:49.354] [info] Accepted new action goal ×2 + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911234 ms (missed cycles : 5). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911234 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13304 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4370 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2184 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2184 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4368 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578839 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578839 ms (missed cycles : 2).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937481 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937481 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469975 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469975 ms (missed cycles : 3).[0m ×2 + 3.15sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490483.45463347 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918928 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918928 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788490484.09034586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:54:44.234] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:54:44.234] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287468 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287468 ms (missed cycles : 2).[0m ×2 + 4.92sWARNros2_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 + 5.30sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.36sINFOobjective_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 + 5.37sINFOobjective_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 ×3 + 5.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261147 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261147 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466362 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466362 ms (missed cycles : 3).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035575 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035575 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054980 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054980 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845355 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845355 ms (missed cycles : 2).[0m ×2 + 10.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962721 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962721 ms (missed cycles : 2).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.048661 ms (missed cycles : 5). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.048661 ms (missed cycles : 5).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364536 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364536 ms (missed cycles : 3).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020290 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020290 ms (missed cycles : 2).[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981531 ms (missed cycles : 3). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981531 ms (missed cycles : 3).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472739 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472739 ms (missed cycles : 4).[0m ×2 + 17.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988227 ms (missed cycles : 4). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988227 ms (missed cycles : 4).[0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865191 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865191 ms (missed cycles : 2).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086369 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086369 ms (missed cycles : 2).[0m ×2 + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832481 ms (missed cycles : 3). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832481 ms (missed cycles : 3).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239688 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239688 ms (missed cycles : 2).[0m ×2 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 24.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 25.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 25.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.28sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 26.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.30sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 26.30sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00339261 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131416 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131416 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.40sINFOros2_control_node[2026-09-04 02:52:45.166] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 02:52:45.166] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 02:52:45.568] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 02:52:45.568] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066934 ms (missed cycles : 7). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066934 ms (missed cycles : 7).[0m ×2 + 2.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291914 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291914 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490367.67346907 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788490368.50302029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284845 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284845 ms (missed cycles : 5).[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-04 02:52:48.687] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-04 02:52:48.687] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555201 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555201 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757015 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757015 ms (missed cycles : 3).[0m ×2 + 6.44sINFOros2_control_node[2026-09-04 02:52:51.204] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 02:52:51.204] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514143 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514143 ms (missed cycles : 2).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403443 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403443 ms (missed cycles : 3).[0m ×2 + 8.23sWARNros2_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 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067282 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067282 ms (missed cycles : 3).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490763 ms (missed cycles : 4). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490763 ms (missed cycles : 4).[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550881 ms (missed cycles : 3). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550881 ms (missed cycles : 3).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025935 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025935 ms (missed cycles : 3).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2).[0m ×2 + 14.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788490379.76576614 seconds ×3 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3).[0m ×2 + 15.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.61sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788490380.42418671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788490380.48431420 seconds ×3 + 16.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.26sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 16.43sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 16.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.44sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 16.44sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 18.45sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 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 1.986764 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986764 ms (missed cycles : 2).[0m ×2 + 0.42sINFOobjective_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 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.43sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150891 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150891 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.31sINFOros2_control_node[2026-09-04 02:53:46.117] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-09-04 02:53:46.117] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151504 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151504 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788490427.27386808 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166719 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166719 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788490428.08918738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925105 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925105 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.54sINFOros2_control_node[2026-09-04 02:53:49.354] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-09-04 02:53:49.354] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911234 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911234 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020506 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020506 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795132 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795132 ms (missed cycles : 2).[0m ×2 + 8.24sINFOobjective_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 + 8.24sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.24sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.24sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090421 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090421 ms (missed cycles : 4).[0m ×2 + 9.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458826 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458826 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.029156 ms (missed cycles : 7). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.029156 ms (missed cycles : 7).[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.64sINFOros2_control_node[2026-09-04 02:53:55.454] [info] Received new action goal ×2 + 10.64sINFOros2_control_node[2026-09-04 02:53:55.454] [info] Accepted new action goal ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929928 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929928 ms (missed cycles : 2).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361656 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361656 ms (missed cycles : 2).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106402 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106402 ms (missed cycles : 2).[0m ×2 + 14.26sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788490439.06935692 seconds ×3 + 14.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788490439.68273950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 15.00sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.02sINFOros2_control_node[2026-09-04 02:53:59.826] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-04 02:53:59.826] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130463 ms (missed cycles : 6). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130463 ms (missed cycles : 6).[0m ×2 + 16.07sWARNros2_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 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362794 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362794 ms (missed cycles : 3).[0m ×2 + 16.28sINFOobjective_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 + 16.29sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363617 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363617 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.2s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817267 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817267 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127817 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127817 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 1.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.67sINFOros2_control_node[2026-09-04 02:51:50.428] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-09-04 02:51:50.428] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290138 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290138 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.32sINFOros2_control_node[2026-09-04 02:51:51.073] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-04 02:51:51.073] [info] Canceling active goal... ×2 + 2.33sERRORobjective_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: 1788490311.08993888 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.88sINFOobjective_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: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788490311.69629622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446443 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446443 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-04 02:51:51.930] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-04 02:51:51.930] [info] Accepted new action goal ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784461 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784461 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662784 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662784 ms (missed cycles : 2).[0m ×2 + 5.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.46sINFOros2_control_node[2026-09-04 02:51:54.210] [info] Received new action goal ×2 + 5.46sINFOros2_control_node[2026-09-04 02:51:54.210] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138025 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138025 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881131 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881131 ms (missed cycles : 5).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904461 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904461 ms (missed cycles : 5).[0m ×2 + 9.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722897 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722897 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199292 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199292 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[0m ×2 + 13.52sERRORobjective_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: 1788490322.27423191 seconds ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.14sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 16.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118721 ms (missed cycles : 2).[0m ×2 + 0.06sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788490354.07176781 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217450 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217450 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 ×6 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580451 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580451 ms (missed cycles : 3).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683300 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683300 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788490357.19001508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 02:52:37.394] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 02:52:37.394] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125068 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125068 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965276 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965276 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966846 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966846 ms (missed cycles : 5).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047313 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047313 ms (missed cycles : 3).[0m ×2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 1 iterations (0.0030729 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 2 iterations (0.00498596 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.00328608 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227928 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227928 ms (missed cycles : 4).[0m ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.53sINFOros2_control_node[2026-09-04 02:52:42.244] [info] Received new action goal ×2 + 8.53sINFOros2_control_node[2026-09-04 02:52:42.244] [info] Accepted new action goal ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639926 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639926 ms (missed cycles : 3).[0m ×2 + 9.62sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338879 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338879 ms (missed cycles : 4).[0m ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 11.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.08sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 11.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.20sINFOobjective_server_nodeFound path in 1 iterations (0.00339261 s). ×2 + 11.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131416 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131416 ms (missed cycles : 2).[0m ×2 + 11.46sINFOros2_control_node[2026-09-04 02:52:45.166] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-09-04 02:52:45.166] [info] Accepted new action goal ×2 + 11.86sINFOros2_control_node[2026-09-04 02:52:45.568] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-09-04 02:52:45.568] [info] Accepted new action goal ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066934 ms (missed cycles : 7). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066934 ms (missed cycles : 7).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291914 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291914 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_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 + 13.96sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.96sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.96sERRORobjective_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: 1788490367.67346907 seconds ×3 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.79sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788490368.50302029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284845 ms (missed cycles : 5). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284845 ms (missed cycles : 5).[0m ×2 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 14.98sINFOros2_control_node[2026-09-04 02:52:48.687] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-09-04 02:52:48.687] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555201 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555201 ms (missed cycles : 3).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757015 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757015 ms (missed cycles : 3).[0m ×2 + 17.49sINFOros2_control_node[2026-09-04 02:52:51.204] [info] Received new action goal ×2 + 17.49sINFOros2_control_node[2026-09-04 02:52:51.204] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.55sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.07sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763037 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763037 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.744189 ms (missed cycles : 8). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.744189 ms (missed cycles : 8).[0m ×2 + 8.86sWARNros2_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 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351527 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351527 ms (missed cycles : 3).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 9.87sINFOros2_control_node[2026-09-04 02:51:47.087] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-09-04 02:51:47.087] [info] Accepted new action goal ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448099 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448099 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817267 ms (missed cycles : 5). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817267 ms (missed cycles : 5).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127817 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127817 ms (missed cycles : 5).[0m ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.21sINFOros2_control_node[2026-09-04 02:51:50.428] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-09-04 02:51:50.428] [info] Accepted new action goal ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290138 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290138 ms (missed cycles : 4).[0m ×2 + 13.85sINFOobjective_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 + 13.86sINFOros2_control_node[2026-09-04 02:51:51.073] [info] Got request to cancel active goal. ×2 + 13.86sINFOros2_control_node[2026-09-04 02:51:51.073] [info] Canceling active goal... ×2 + 13.87sERRORobjective_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: 1788490311.08993888 seconds ×3 + 13.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.41sINFOobjective_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: ""
+ 14.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788490311.69629622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446443 ms (missed cycles : 5). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446443 ms (missed cycles : 5).[0m ×2 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.71sINFOros2_control_node[2026-09-04 02:51:51.930] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-04 02:51:51.930] [info] Accepted new action goal ×2 + 14.84sWARNros2_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 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784461 ms (missed cycles : 5). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784461 ms (missed cycles : 5).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662784 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662784 ms (missed cycles : 2).[0m ×2 + 16.97sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 16.98sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.99sINFOros2_control_node[2026-09-04 02:51:54.210] [info] Received new action goal ×2 + 16.99sINFOros2_control_node[2026-09-04 02:51:54.210] [info] Accepted new action goal ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138025 ms (missed cycles : 4). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138025 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 55 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760263 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708290 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708290 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052170 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052170 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788490538.08281374 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109834 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109834 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.72sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.72sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.79sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788490538.74325180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-09-04 02:55:38.887] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 02:55:38.887] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969704 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969704 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312305 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312305 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881324 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881324 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588148 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588148 ms (missed cycles : 4).[0m ×2 + 8.38sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784764 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784764 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277947 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277947 ms (missed cycles : 2).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312307 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312307 ms (missed cycles : 3).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 12.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 14.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sERRORobjective_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: 1788490549.07352400 seconds ×3 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 14.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 15.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_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 + 15.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 15.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 16.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.16sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 16.16sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571546 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571546 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915830 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915830 ms (missed cycles : 2).[0m ×2 + 8.97sWARNros2_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 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342154 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342154 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048777 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048777 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675186 ms (missed cycles : 5). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675186 ms (missed cycles : 5).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858612 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858612 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156717 ms (missed cycles : 4). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156717 ms (missed cycles : 4).[0m ×2 + 14.21sINFOobjective_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 + 14.21sERRORobjective_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: 1788490527.56698465 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788490528.16730356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277701 ms (missed cycles : 4). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277701 ms (missed cycles : 4).[0m ×2 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.13sINFOros2_control_node[2026-09-04 02:55:28.479] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-09-04 02:55:28.479] [info] Accepted new action goal ×2 + 15.56sWARNros2_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 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002672 ms (missed cycles : 4). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002672 ms (missed cycles : 4).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806786 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806786 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520274 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520274 ms (missed cycles : 4).[0m ×2 + 7.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.33sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498959 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498959 ms (missed cycles : 3).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 1 iterations (0.00299525 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 2 iterations (0.00491563 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 1 iterations (0.00340019 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495015 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495015 ms (missed cycles : 4).[0m ×2 + 8.56sINFOros2_control_node[2026-09-04 02:52:31.516] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-09-04 02:52:31.516] [info] Accepted new action goal ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.534337 ms (missed cycles : 6). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.534337 ms (missed cycles : 6).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118721 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118721 ms (missed cycles : 2).[0m ×2 + 10.81sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.08sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.08sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.08sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788490354.07176781 seconds ×3 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217450 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217450 ms (missed cycles : 2).[0m ×2 + 12.10sWARNros2_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 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580451 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580451 ms (missed cycles : 3).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683300 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683300 ms (missed cycles : 2).[0m ×2 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.23sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788490357.19001508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.44sINFOros2_control_node[2026-09-04 02:52:37.394] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-09-04 02:52:37.394] [info] Accepted new action goal ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125068 ms (missed cycles : 6). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125068 ms (missed cycles : 6).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965276 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965276 ms (missed cycles : 2).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966846 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966846 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.0s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[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 + 1.68sERRORobjective_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: 1788490322.27423191 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.32sINFOobjective_server_nodecaller: ×8 + 2.32sINFOobjective_server_nodetype: 0 ×8 + 2.32sINFOobjective_server_nodename: "" ×8 + 2.32sINFOobjective_server_nodeinstance_id: "" ×8 + 2.32sINFOobjective_server_node ×8 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918338 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918338 ms (missed cycles : 4).[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 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 1 iterations (0.00302395 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.06sINFOros2_control_node[2026-09-04 02:52:08.646] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-04 02:52:08.646] [info] Accepted new action goal ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276041 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276041 ms (missed cycles : 2).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204431 ms (missed cycles : 5). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204431 ms (missed cycles : 5).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946419 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946419 ms (missed cycles : 2).[0m ×2 + 10.36sINFOros2_control_node[2026-09-04 02:52:10.949] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-04 02:52:10.949] [info] Accepted new action goal ×2 + 10.38sWARNros2_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 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 12.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.13sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 12.13sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 13.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 13.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 14.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.88sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 16.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 57 warnings · 2220 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157834 ms (missed cycles : 4). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157834 ms (missed cycles : 4).[0m ×2 + 8.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.12sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 1 iterations (0.00275674 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.74sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.76sINFOros2_control_node[2026-09-04 02:55:11.050] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-09-04 02:55:11.050] [info] Accepted new action goal ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080363 ms (missed cycles : 4). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080363 ms (missed cycles : 4).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404176 ms (missed cycles : 3). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404176 ms (missed cycles : 3).[0m ×2 + 11.06sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 11.06sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 12.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.82sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 12.82sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 13.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 14.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 14.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 14.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.94sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 15.11sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.44sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.44sINFOobjective_server_nodecaller: ×6 + 2.44sINFOobjective_server_nodetype: 0 ×6 + 2.44sINFOobjective_server_nodename: "" ×6 + 2.44sINFOobjective_server_nodeinstance_id: "" ×6 + 2.44sINFOobjective_server_node ×6 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028222 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028222 ms (missed cycles : 4).[0m ×2 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.74sINFOros2_control_node[2026-09-04 02:52:18.850] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-09-04 02:52:18.851] [info] Accepted new action goal ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.552093 ms (missed cycles : 6). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.552093 ms (missed cycles : 6).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013602 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013602 ms (missed cycles : 3).[0m ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 9.09sINFOros2_control_node[2026-09-04 02:52:21.198] [info] Received new action goal ×2 + 9.09sINFOros2_control_node[2026-09-04 02:52:21.198] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214622 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214622 ms (missed cycles : 4).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 10.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.43sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 11.46sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 13.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.46sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 13.46sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 13.47sERRORobjective_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: 1788490345.57550406 seconds ×3 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.10sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 14.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.30sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 16.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_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 + 1.96sERRORobjective_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: 1788490549.07352400 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.55sINFOobjective_server_nodecaller: ×14 + 2.55sINFOobjective_server_nodetype: 0 ×14 + 2.55sINFOobjective_server_nodename: "" ×14 + 2.55sINFOobjective_server_nodeinstance_id: "" ×14 + 2.55sINFOobjective_server_node ×14 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032388 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032388 ms (missed cycles : 2).[0m ×2 + 7.31sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.31sINFOros2_control_node[2026-09-04 02:55:54.422] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-09-04 02:55:54.422] [info] Accepted new action goal ×2 + 7.31sINFOros2_control_node[2026-09-04 02:55:54.422] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462057 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462057 ms (missed cycles : 3).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349081 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349081 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896622 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896622 ms (missed cycles : 3).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225406 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225406 ms (missed cycles : 2).[0m ×2 + 11.88sWARNros2_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 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2).[0m ×2 + 14.02sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 14.02sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 14.02sERRORobjective_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: 1788490561.13295722 seconds ×3 + 14.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 14.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 16.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 16.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.75sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 17.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.48sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 61 errors · 34 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490561.13295722 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.18sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.18sINFOobjective_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 + 2.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNros2_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 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490565.21824074 seconds ×3 + 4.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611901 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611901 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143414 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143414 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325734 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325734 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693801 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693801 ms (missed cycles : 2).[0m ×2 + 9.68sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.70sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.70sERRORweb_video_auth_proxy-23process has died [pid 7489, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.70sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.70sERRORweb_bridge_auth_proxy-22process has died [pid 7488, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.70sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.71sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.71sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.71sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.72sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.72sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.73sINFOvideo_server-21process has finished cleanly [pid 7487] ×2 + 9.73sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.73sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.74sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.74sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.75sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.75sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.76sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.76sINFOcontroller_managerShutdown request received.... + 9.76sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.76sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.76sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.76sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.76sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.76sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.76sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.76sINFOvideo_server2026/09/04 02:56:10 INF shutting down gracefully ×2 + 9.76sINFOvideo_server2026/09/04 02:56:10 INF [WebRTC] closing ×2 + 9.76sINFOvideo_server2026/09/04 02:56:10 INF [RTSP] closing ×2 + 9.76sINFOvideo_server2026/09/04 02:56:10 INF waiting for running hooks ×2 + 9.76sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.76sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.76sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.76sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.76sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.76sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.76sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.76sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.76sERRORmove_groupStack trace (most recent call last) in thread 7856: ×2 + 9.76sINFOcontroller_managerShutting down the controller manager. + 9.76sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.76sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.76sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.76sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.76sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.77sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9423680a63, in __clone ×2 + 9.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f94235f3aa3, in ×2 + 9.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9423885db3, in ×2 + 9.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f9423feaa94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9423c17620, in rclcpp::Rate::sleep() ×2 + 9.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9423b59d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9423b1b087, in ×2 + 9.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9423854390, in __cxa_throw ×2 + 9.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f942383ea54, in std::terminate() ×2 + 9.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f94238540d9, in ×2 + 9.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f942383eff4, in ×2 + 9.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f942357f8fe, in abort ×2 + 9.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f942359c27d, in raise ×2 + 9.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f94235f5b2c, in pthread_kill ×2 + 9.77sERRORmove_groupAborted (Signal sent by tkill() 7400 0) ×2 + 9.78sERRORmove_group-9process has died [pid 7400, 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_tep5wjx2 --params-file /tmp/launch_params_b_cd2ezx --params-file /tmp/launch_params_ujps3j61 --params-file /tmp/launch_params_qibtapx0 --params-file /tmp/launch_params_puary_70 --params-file /tmp/launch_params_dklfq4ik']. ×2 + 9.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.97sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 9.97sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.76sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7486] ×2 + 10.76sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.77sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7404] ×2 + 10.78sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7403] ×2 + 10.82sINFOexecute_objective_bridge-17process has finished cleanly [pid 7408] ×2 + 10.82sINFOui_teleop_bridge-18process has finished cleanly [pid 7409] ×2 + 10.82sINFOparameter_manager_node-10process has finished cleanly [pid 7401] ×2 + 10.83sINFOwaypoint_manager_node-11process has finished cleanly [pid 7402] ×2 + 10.83sINFOcomponent_container_mt-16process has finished cleanly [pid 7407] ×2 + 10.94sINFOobjective_server_node[0;m[2026-09-04 02:56:12.064] [moveit_pro_license] [info] ×2 + 10.94sINFOobjective_server_node************************************************* ×4 + 10.94sINFOobjective_server_node* MoveIt Pro License ×2 + 10.94sINFOobjective_server_node* Application has successfully terminated ×2 + 11.07sINFOobjective_server_node_main-14process has finished cleanly [pid 7405] ×2 + 11.07sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.77sINFOweb_bridge-19process has finished cleanly [pid 7410] ×2 + 11.77sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 11.93sINFOcomponent_container_mt-15process has finished cleanly [pid 7406] ×2 + 12.39sINFOros2_control_node-1process has finished cleanly [pid 7359] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675186 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675186 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858612 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858612 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156717 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156717 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_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 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490527.56698465 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788490528.16730356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277701 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277701 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.40sINFOros2_control_node[2026-09-04 02:55:28.479] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-04 02:55:28.479] [info] Accepted new action goal ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002672 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002672 ms (missed cycles : 4).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806786 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806786 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896753 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896753 ms (missed cycles : 2).[0m ×2 + 7.42sINFOros2_control_node[2026-09-04 02:55:32.498] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-09-04 02:55:32.498] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764712 ms (missed cycles : 6). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764712 ms (missed cycles : 6).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2).[0m ×2 + 8.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760263 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760263 ms (missed cycles : 3).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708290 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708290 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052170 ms (missed cycles : 4). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052170 ms (missed cycles : 4).[0m ×2 + 13.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788490538.08281374 seconds ×3 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109834 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109834 ms (missed cycles : 2).[0m ×2 + 13.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.59sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.66sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788490538.74325180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 13.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.81sINFOros2_control_node[2026-09-04 02:55:38.887] [info] Received new action goal ×2 + 13.81sINFOros2_control_node[2026-09-04 02:55:38.887] [info] Accepted new action goal ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969704 ms (missed cycles : 6). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969704 ms (missed cycles : 6).[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312305 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312305 ms (missed cycles : 3).[0m ×2 + 15.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 15.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881324 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881324 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 2.083195 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2).[0m ×2 + 0.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788490379.76576614 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.27sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.27sINFOobjective_server_nodecaller: ×6 + 2.27sINFOobjective_server_nodetype: 0 ×6 + 2.27sINFOobjective_server_nodename: "" ×6 + 2.27sINFOobjective_server_nodeinstance_id: "" ×6 + 2.27sINFOobjective_server_node ×6 + 2.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788490380.42418671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788490380.48431420 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.97sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.10sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 6.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.86sINFOobjective_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 + 6.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.18sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 695 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.04sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.04sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.58sINFOcomponent_container_mt[2026-09-04 02:51:33.250] [moveit_pro_license] [info] ×2 + 0.58sINFOcomponent_container_mt************************************************* ×4 + 0.58sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.58sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.63sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.63sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.64sWARNros2_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 + 0.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.64sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.64sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.64sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.64sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.64sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.64sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.64sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.64sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.64sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.64sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.64sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.64sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.64sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.64sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.64sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.64sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.64sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.64sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.64sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.64sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.64sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.72sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.72sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.73sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648856 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648856 ms (missed cycles : 3).[0m ×2 + 0.73sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.73sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.91sWARNobjective_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 + 1.01sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.01sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.01sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.11sINFOros2-3process has finished cleanly [pid 7361] ×2 + 1.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.20sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.20sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.20sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.23sINFOros2_control_node[2026-09-04 02:51:33.898] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-09-04 02:51:33.899] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.50sINFOros2-8process has finished cleanly [pid 7377] ×2 + 1.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5).[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2-4process has finished cleanly [pid 7373] ×2 + 1.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-09-04 02:51:34.683] [info] Controller state will be published at 10 Hz. ×2 + 2.01sINFOros2_control_node[2026-09-04 02:51:34.684] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.31sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 2.31sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 2.35sINFOros2-7process has finished cleanly [pid 7376] ×2 + 2.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.37sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.37sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.38sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.38sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.67sINFOros2-5process has finished cleanly [pid 7374] ×2 + 2.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 2.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.77sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.77sINFOobjective_server_nodecaller: ×14 + 2.77sINFOobjective_server_nodetype: 0 ×14 + 2.77sINFOobjective_server_nodename: "" ×14 + 2.77sINFOobjective_server_nodeinstance_id: "" ×14 + 2.77sINFOobjective_server_node ×14 + 2.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.81sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.81sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.83sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.83sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 3.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 3.17sINFOros2-6process has finished cleanly [pid 7375] ×2 + 3.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.18sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.18sINFOforce_torque_sensor_broadcasterconfigure successful + 3.18sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.19sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.19sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.53sINFOros2-2process has finished cleanly [pid 7360] ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 4.88sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 7.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 7.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.10sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225406 ms (missed cycles : 2).[0m ×2 + 0.56sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_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 + 2.70sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1788490561.13295722 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.25sINFOobjective_server_nodeinstance_id: "" ×8 + 3.25sINFOobjective_server_node ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.88sINFOobjective_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 + 4.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490565.21824074 seconds ×3 + 6.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3).[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 1.893297 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 0.65sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 0.65sERRORobjective_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: 1788490561.13295722 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.20sINFOobjective_server_nodecaller: ×8 + 1.20sINFOobjective_server_nodetype: 0 ×8 + 1.20sINFOobjective_server_nodename: "" ×8 + 1.20sINFOobjective_server_nodeinstance_id: "" ×8 + 1.20sINFOobjective_server_node ×8 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490565.21824074 seconds ×3 + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611901 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611901 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025935 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025935 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2).[0m ×2 + 1.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788490379.76576614 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788490380.42418671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788490380.48431420 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490549.07352400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946419 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-09-04 02:52:10.949] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-04 02:52:10.949] [info] Accepted new action goal ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.79sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.54sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199292 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199292 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[0m ×2 + 2.69sINFOobjective_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 + 2.90sERRORobjective_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: 1788490322.27423191 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7373] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.683] [info] Controller state will be published at 10 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.684] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7376] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7374] ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.98sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.34sINFOros2-6process has finished cleanly [pid 7375] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sINFOros2-2process has finished cleanly [pid 7360] ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 3.06sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_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: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[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 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 4.61sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sWARNros2_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 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490549.07352400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_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 + 1.66sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 1.66sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 1.67sERRORobjective_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: 1788490561.13295722 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.21sINFOobjective_server_nodecaller: ×8 + 2.21sINFOobjective_server_nodetype: 0 ×8 + 2.21sINFOobjective_server_nodename: "" ×8 + 2.21sINFOobjective_server_nodeinstance_id: "" ×8 + 2.21sINFOobjective_server_node ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911715 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490565.21824074 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028222 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520274 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_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 2.199292 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199292 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[0m ×2 + 2.69sINFOobjective_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 + 2.90sERRORobjective_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: 1788490322.27423191 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 2.199292 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199292 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[0m ×2 + 2.69sINFOobjective_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 + 2.90sERRORobjective_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: 1788490322.27423191 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[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 2.329419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[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 + 1.68sERRORobjective_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: 1788490322.27423191 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4).[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 2.329419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[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 + 1.68sERRORobjective_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: 1788490322.27423191 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4).[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 2.329419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[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 + 1.68sERRORobjective_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: 1788490322.27423191 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4).[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 2.329419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329419 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103704 ms (missed cycles : 5).[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 + 1.68sERRORobjective_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: 1788490322.27423191 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959857 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490322.96229720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490323.05243063 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890681 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490323.68721581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 02:52:03.891] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748712 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394380 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760397 ms (missed cycles : 4).[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 1.851644 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[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 1.851644 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[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 1.851644 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[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 1.851644 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851644 ms (missed cycles : 2).[0m ×2 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:12.721] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282430 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490334.00749326 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312208 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490334.62650466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490334.70662546 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492762 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490335.34699869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-04 02:52:15.472] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875886 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307414 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 02:52:23.564] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879241 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739746 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-04 02:52:25.567] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1788490345.57550406 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490346.20960999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193338 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-04 02:52:26.413] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286357 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396806 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00339261 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131416 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131416 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOros2_control_node[2026-09-04 02:52:45.166] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 02:52:45.166] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 02:52:45.568] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 02:52:45.568] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066934 ms (missed cycles : 7). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066934 ms (missed cycles : 7).[0m ×2 + 2.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291914 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291914 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490367.67346907 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788490368.50302029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284845 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284845 ms (missed cycles : 5).[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-04 02:52:48.687] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-04 02:52:48.687] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555201 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555201 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757015 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757015 ms (missed cycles : 3).[0m ×2 + 6.44sINFOros2_control_node[2026-09-04 02:52:51.204] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 02:52:51.204] [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 4.025935 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025935 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083195 ms (missed cycles : 2).[0m ×2 + 1.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155582 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788490379.76576614 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839733 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788490380.42418671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788490380.48431420 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788490381.07880569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313277 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 02:53:01.203] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044182 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839808 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788490383.21897864 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.166073 ms (missed cycles : 7).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788490384.85351110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 02:53:05.280] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106148 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820982 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962882 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929928 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361656 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361656 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106402 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106402 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788490439.06935692 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_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: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788490439.68273950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.42sINFOros2_control_node[2026-09-04 02:53:59.826] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-04 02:53:59.826] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130463 ms (missed cycles : 6). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130463 ms (missed cycles : 6).[0m ×2 + 4.47sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362794 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362794 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363617 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363617 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202705 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769788 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927546 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788490505.55886102 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224293 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788490506.26002169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 02:55:06.485] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416207 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049965 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 02:55:13.352] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689426 ms (missed cycles : 6).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653045 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 02:55:15.114] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508112 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788490516.40019560 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809028 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788490517.22656965 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 (3.31e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 02:55:17.401] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546708 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865420 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088422 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 7.675186 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675186 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858612 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858612 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156717 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156717 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_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 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490527.56698465 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788490528.16730356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277701 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277701 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.40sINFOros2_control_node[2026-09-04 02:55:28.479] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-04 02:55:28.479] [info] Accepted new action goal ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002672 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002672 ms (missed cycles : 4).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806786 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806786 ms (missed cycles : 2).[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 4.760263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760263 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708290 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708290 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052170 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052170 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788490538.08281374 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109834 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109834 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788490538.74325180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-09-04 02:55:38.887] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 02:55:38.887] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969704 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969704 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312305 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312305 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881324 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881324 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 7.590708 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490549.07352400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[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 7.590708 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490549.07352400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[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 7.590708 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490549.07352400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[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 7.590708 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590708 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490549.07352400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_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 + 1.96sERRORobjective_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: 1788490549.07352400 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_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 + 1.96sERRORobjective_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: 1788490549.07352400 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678704 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_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 + 1.96sERRORobjective_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: 1788490549.07352400 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788490549.71312618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615912 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788490549.78325796 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788490550.36915016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788490550.39127183 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788490550.98806190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 02:55:51.111] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306246 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777923 ms (missed cycles : 3).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | 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 2.225406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225406 ms (missed cycles : 2).[0m ×2 + 0.56sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_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 + 2.70sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1788490561.13295722 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.25sINFOobjective_server_nodeinstance_id: "" ×8 + 3.25sINFOobjective_server_node ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.88sINFOobjective_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 + 4.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 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 2.225406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225406 ms (missed cycles : 2).[0m ×2 + 0.56sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816170 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893297 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_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 + 2.70sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-04 02:56:01.128] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1788490561.13295722 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.25sINFOobjective_server_nodeinstance_id: "" ×8 + 3.25sINFOobjective_server_node ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379030 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490561.73137832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490562.71151733 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814875 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788490563.30757618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.88sINFOobjective_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 + 4.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788490563.30949593 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788490563.91279578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788490563.91351223 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490564.63810730 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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.7s | 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/2026-09-04-02-51-28-857107-e73bd5147a77-7311 ×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. + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844917 ms (missed cycles : 2). + 0.87sINFOros2_control_node-1process started with pid [7359] ×2 + 0.87sINFOmove_group-9process started with pid [7400] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7401] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7402] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7403] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7404] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7405] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7406] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7407] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7408] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7409] ×2 + 0.87sINFOweb_bridge-19process started with pid [7410] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7486] ×2 + 0.87sINFOvideo_server-21process started with pid [7487] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7488] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7489] ×2 + 0.87sINFOros2-2process started with pid [7360] ×2 + 0.87sINFOros2-3process started with pid [7361] ×2 + 0.87sINFOros2-4process started with pid [7373] ×2 + 0.87sINFOros2-5process started with pid [7374] ×2 + 0.87sINFOros2-6process started with pid [7375] ×2 + 0.87sINFOros2-7process started with pid [7376] ×2 + 0.87sINFOros2-8process started with pid [7377] ×2 + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.90sWARNros2_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 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844917 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF configuration loaded from /tmp/moveit-webrtc-wtu26c5t/mediamtx.yml ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.38sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.38sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.00sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.00sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.01sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.01sINFOros2_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 + 2.06sINFOmove_group[2026-09-04 02:51:31.298] [moveit_pro_license] [info] ×2 + 2.06sINFOmove_group************************************************* ×4 + 2.06sINFOmove_group* MoveIt Pro License ×2 + 2.06sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.19sINFOwaypoint_manager_node[2026-09-04 02:51:31.425] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031105 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031105 ms (missed cycles : 3).[0m ×2 + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.41sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.47sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.59sINFOmove_group ×4 + 2.59sINFOmove_group[92mYou can start planning now![0m ×2 + 3.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.19sINFOobjective_server_node[2026-09-04 02:51:32.432] [moveit_pro_license] [info] ×2 + 3.19sINFOobjective_server_node************************************************* ×4 + 3.19sINFOobjective_server_node* MoveIt Pro License ×2 + 3.19sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOobjective_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 + 3.31sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.32sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.47sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.47sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.01sINFOcomponent_container_mt[2026-09-04 02:51:33.250] [moveit_pro_license] [info] ×2 + 4.01sINFOcomponent_container_mt************************************************* ×4 + 4.01sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.01sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.07sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.07sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.07sWARNros2_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 + 4.07sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.07sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.07sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.07sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.07sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.07sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.07sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.07sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.07sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.07sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.07sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.07sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.07sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.07sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.07sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.07sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.07sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.07sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.07sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.07sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.07sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.14sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.14sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.14sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.14sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.14sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 4.14sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 4.15sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.15sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.16sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.16sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.16sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.16sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.16sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648856 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648856 ms (missed cycles : 3).[0m ×2 + 4.17sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.17sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.34sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.54sINFOros2-3process has finished cleanly [pid 7361] ×2 + 4.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 4.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 4.63sINFOros2_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 + 4.63sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.63sWARNros2_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 + 4.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.64sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.66sINFOros2_control_node[2026-09-04 02:51:33.898] [info] Controller state will be published at 20 Hz. ×2 + 4.66sINFOros2_control_node[2026-09-04 02:51:33.899] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 4.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 4.93sINFOros2-8process has finished cleanly [pid 7377] ×2 + 4.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5).[0m ×2 + 5.27sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.27sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.27sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.27sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.28sINFOros2-4process has finished cleanly [pid 7373] ×2 + 5.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 5.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 5.41sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.44sINFOros2_control_node[2026-09-04 02:51:34.683] [info] Controller state will be published at 10 Hz. ×2 + 5.44sINFOros2_control_node[2026-09-04 02:51:34.684] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.74sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.74sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.74sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 5.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 5.79sINFOros2-7process has finished cleanly [pid 7376] ×2 + 5.80sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.80sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.80sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.81sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.81sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.81sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.11sINFOros2-5process has finished cleanly [pid 7374] ×2 + 6.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 6.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.21sINFOobjective_server_nodecaller: ×10 + 6.21sINFOobjective_server_nodetype: 0 ×10 + 6.21sINFOobjective_server_nodename: "" ×10 + 6.21sINFOobjective_server_nodeinstance_id: "" ×10 + 6.21sINFOobjective_server_node ×10 + 6.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.24sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.24sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.26sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.26sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 6.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 6.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 6.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 6.60sINFOros2-6process has finished cleanly [pid 7375] ×2 + 6.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.61sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.61sINFOforce_torque_sensor_broadcasterconfigure successful + 6.61sINFOros2_control_nodeconfigure successful[0m ×2 + 6.62sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.62sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.62sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.62sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.81sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.97sINFOros2-2process has finished cleanly [pid 7360] ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 8.31sWARNros2_control_nodeCamera render tick took 1.87 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 + 8.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 9.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 9.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 10.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 378 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 7375] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.24sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.24sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.24sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.24sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.24sINFOobjective_server_nodecaller: ×12 + 0.24sINFOobjective_server_nodetype: 0 ×12 + 0.24sINFOobjective_server_nodename: "" ×12 + 0.24sINFOobjective_server_nodeinstance_id: "" ×12 + 0.24sINFOobjective_server_node ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.40sINFOros2-2process has finished cleanly [pid 7360] ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[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: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_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 (2.4028e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.96sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 7.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.48sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 7.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 484 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.04sINFOros2-7process has finished cleanly [pid 7376] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7374] ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.47sINFOobjective_server_nodecaller: ×14 + 0.47sINFOobjective_server_nodetype: 0 ×14 + 0.47sINFOobjective_server_nodename: "" ×14 + 0.47sINFOobjective_server_nodeinstance_id: "" ×14 + 0.47sINFOobjective_server_node ×14 + 0.50sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.50sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.52sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.52sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.53sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.86sINFOros2-6process has finished cleanly [pid 7375] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×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 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 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 + 1.22sINFOros2-2process has finished cleanly [pid 7360] ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 2.57sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sWARNros2_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 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 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/2026-09-04-02-51-28-857107-e73bd5147a77-7311 ×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. + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844917 ms (missed cycles : 2). + 0.87sINFOros2_control_node-1process started with pid [7359] ×2 + 0.87sINFOmove_group-9process started with pid [7400] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7401] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7402] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7403] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7404] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7405] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7406] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7407] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7408] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7409] ×2 + 0.87sINFOweb_bridge-19process started with pid [7410] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7486] ×2 + 0.87sINFOvideo_server-21process started with pid [7487] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7488] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7489] ×2 + 0.87sINFOros2-2process started with pid [7360] ×2 + 0.87sINFOros2-3process started with pid [7361] ×2 + 0.87sINFOros2-4process started with pid [7373] ×2 + 0.87sINFOros2-5process started with pid [7374] ×2 + 0.87sINFOros2-6process started with pid [7375] ×2 + 0.87sINFOros2-7process started with pid [7376] ×2 + 0.87sINFOros2-8process started with pid [7377] ×2 + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.90sWARNros2_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 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844917 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF configuration loaded from /tmp/moveit-webrtc-wtu26c5t/mediamtx.yml ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.35sINFOvideo_server2026/09/04 02:51:30 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.38sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.38sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.00sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.00sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.01sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.01sINFOros2_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 + 2.06sINFOmove_group[2026-09-04 02:51:31.298] [moveit_pro_license] [info] ×2 + 2.06sINFOmove_group************************************************* ×4 + 2.06sINFOmove_group* MoveIt Pro License ×2 + 2.06sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.19sINFOwaypoint_manager_node[2026-09-04 02:51:31.425] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031105 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031105 ms (missed cycles : 3).[0m ×2 + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.41sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.47sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.59sINFOmove_group ×4 + 2.59sINFOmove_group[92mYou can start planning now![0m ×2 + 3.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.19sINFOobjective_server_node[2026-09-04 02:51:32.432] [moveit_pro_license] [info] ×2 + 3.19sINFOobjective_server_node************************************************* ×4 + 3.19sINFOobjective_server_node* MoveIt Pro License ×2 + 3.19sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOobjective_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 + 3.31sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.32sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.32sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.47sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.47sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7373] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.683] [info] Controller state will be published at 10 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.684] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7376] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7374] ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.98sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.34sINFOros2-6process has finished cleanly [pid 7375] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sINFOros2-2process has finished cleanly [pid 7360] ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 3.06sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_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: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[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 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 4.61sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sWARNros2_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 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7373] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.683] [info] Controller state will be published at 10 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.684] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7376] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7374] ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.98sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.34sINFOros2-6process has finished cleanly [pid 7375] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sINFOros2-2process has finished cleanly [pid 7360] ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 3.06sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_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: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[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 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 4.61sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sWARNros2_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 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054128 ms (missed cycles : 5).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7373] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.683] [info] Controller state will be published at 10 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 02:51:34.684] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7376] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7374] ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.98sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.98sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.00sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 1.34sINFOros2-6process has finished cleanly [pid 7375] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sINFOros2-2process has finished cleanly [pid 7360] ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 3.06sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_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: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[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 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 4.61sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sWARNros2_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 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 484 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.04sINFOros2-7process has finished cleanly [pid 7376] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7374] ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.47sINFOobjective_server_nodecaller: ×14 + 0.47sINFOobjective_server_nodetype: 0 ×14 + 0.47sINFOobjective_server_nodename: "" ×14 + 0.47sINFOobjective_server_nodeinstance_id: "" ×14 + 0.47sINFOobjective_server_node ×14 + 0.50sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.50sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_node[2026-09-04 02:51:35.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.52sINFOros2_control_node[2026-09-04 02:51:35.501] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.52sINFOros2_control_node[2026-09-04 02:51:35.501] [info] Controller state will be published at 50 Hz. ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490295.50468850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.53sINFOros2_control_node[2026-09-04 02:51:35.507] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026302 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490295.51494265 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.86sINFOros2-6process has finished cleanly [pid 7375] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×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 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 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 + 1.22sINFOros2-2process has finished cleanly [pid 7360] ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 2.57sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sWARNros2_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 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 362 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vxv21fzr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_onbfxb1e --params-file /tmp/launch_params_wt4jw4fw [0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 7375] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.24sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.24sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.24sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.24sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.24sINFOobjective_server_nodecaller: ×12 + 0.24sINFOobjective_server_nodetype: 0 ×12 + 0.24sINFOobjective_server_nodename: "" ×12 + 0.24sINFOobjective_server_nodeinstance_id: "" ×12 + 0.24sINFOobjective_server_node ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490296.10677266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.40sINFOros2-2process has finished cleanly [pid 7360] ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[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: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_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 (2.4028e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.96sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100425 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490297.21696019 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490297.82766247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490297.88785005 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167894 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490298.54173946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490298.56185126 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490299.15238905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285624 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490299.30293274 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490299.97855353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490300.02867556 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726032 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490300.63314986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.4028e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 02:51:40.769] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600530 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208188 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 02:51:43.288] [info] Accepted new action goal ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268000 ms (missed cycles : 2).[0m ×2 | ||||