122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
8.8s
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 | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 160 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.01sINFOobjective_server_nodecaller: ×6 + 0.01sINFOobjective_server_nodetype: 0 ×6 + 0.01sINFOobjective_server_nodename: "" ×6 + 0.01sINFOobjective_server_nodeinstance_id: "" ×6 + 0.01sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (6.55e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-04 03:03:55.998] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-04 03:03:55.998] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291598 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291598 ms (missed cycles : 4).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847473 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847473 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930823 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930823 ms (missed cycles : 2).[0m ×2 + 10.39sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.41sINFOros2_control_node[2026-09-04 03:03:59.328] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-09-04 03:03:59.328] [info] Accepted new action goal ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552915 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552915 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091502 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091502 ms (missed cycles : 3).[0m ×2 + 11.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247328 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247328 ms (missed cycles : 4).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.27sINFOros2_control_node[2026-09-04 03:04:02.186] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-09-04 03:04:02.186] [info] Accepted new action goal ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915682 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915682 ms (missed cycles : 2).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260247 ms (missed cycles : 4). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260247 ms (missed cycles : 4).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466568 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466568 ms (missed cycles : 3).[0m ×2 + 16.23sINFOobjective_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 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630669 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630669 ms (missed cycles : 3).[0m ×2 + 17.25sWARNros2_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 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536916 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536916 ms (missed cycles : 2).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737522 ms (missed cycles : 3). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737522 ms (missed cycles : 3).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617690 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617690 ms (missed cycles : 3).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516776 ms (missed cycles : 3). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516776 ms (missed cycles : 3).[0m ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085443 ms (missed cycles : 5). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085443 ms (missed cycles : 5).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368582 ms (missed cycles : 5). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368582 ms (missed cycles : 5).[0m ×2 + 23.73sINFOobjective_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 + 23.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.73sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.74sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.74sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130723 ms (missed cycles : 2). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130723 ms (missed cycles : 2).[0m ×2 + 24.62sINFOros2_control_node[2026-09-04 03:04:13.537] [info] Received new action goal ×2 + 24.62sINFOros2_control_node[2026-09-04 03:04:13.537] [info] Accepted new action goal ×2 + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511680 ms (missed cycles : 4). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511680 ms (missed cycles : 4).[0m ×2 + 25.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.82sINFOobjective_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 + 26.09sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 26.15sINFOros2_control_node[2026-09-04 03:04:15.062] [info] Received new action goal ×2 + 26.15sINFOros2_control_node[2026-09-04 03:04:15.062] [info] Accepted new action goal ×2 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916467 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916467 ms (missed cycles : 2).[0m ×2 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238869 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238869 ms (missed cycles : 2).[0m ×2 + 28.42sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 28.42sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.43sINFOros2_control_node[2026-09-04 03:04:17.349] [info] Received new action goal ×2 + 28.43sINFOros2_control_node[2026-09-04 03:04:17.349] [info] Accepted new action goal ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123294 ms (missed cycles : 5). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123294 ms (missed cycles : 5).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909264 ms (missed cycles : 3). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909264 ms (missed cycles : 3).[0m ×2 + 29.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831694 ms (missed cycles : 3). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831694 ms (missed cycles : 3).[0m ×2 + 31.56sINFOros2_control_node[2026-09-04 03:04:20.478] [info] Received new action goal ×2 + 31.56sINFOros2_control_node[2026-09-04 03:04:20.478] [info] Accepted new action goal ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556911 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556911 ms (missed cycles : 2).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312134 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312134 ms (missed cycles : 2).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383658 ms (missed cycles : 2). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383658 ms (missed cycles : 2).[0m ×2 + 34.15sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 34.16sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.21sINFOros2_control_node[2026-09-04 03:04:23.123] [info] Received new action goal ×2 + 34.21sINFOros2_control_node[2026-09-04 03:04:23.123] [info] Accepted new action goal ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338283 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338283 ms (missed cycles : 3).[0m ×2 + 35.86sWARNros2_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 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408856 ms (missed cycles : 5). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408856 ms (missed cycles : 5).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057834 ms (missed cycles : 2). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057834 ms (missed cycles : 2).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872520 ms (missed cycles : 2). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872520 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029533 ms (missed cycles : 2). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029533 ms (missed cycles : 2).[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342077 ms (missed cycles : 2). + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342077 ms (missed cycles : 2).[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763348 ms (missed cycles : 2). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763348 ms (missed cycles : 2).[0m ×2 + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969963 ms (missed cycles : 3). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969963 ms (missed cycles : 3).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 43.51sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.446475 ms (missed cycles : 9). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.446475 ms (missed cycles : 9).[0m ×2 + 44.82sINFOros2_control_node[2026-09-04 03:04:33.738] [info] Received new action goal ×2 + 44.82sINFOros2_control_node[2026-09-04 03:04:33.738] [info] Accepted new action goal ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908359 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908359 ms (missed cycles : 2).[0m ×2 + 45.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788491074.89433861 seconds ×3 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914961 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914961 ms (missed cycles : 3).[0m ×2 + 46.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.55sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.75sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788491075.66499424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.538012 ms (missed cycles : 6). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.538012 ms (missed cycles : 6).[0m ×2 + 47.97sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 47.99sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.00sINFOros2_control_node[2026-09-04 03:04:36.919] [info] Received new action goal ×2 + 48.00sINFOros2_control_node[2026-09-04 03:04:36.919] [info] Accepted new action goal ×2 + 48.21sWARNros2_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 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679577 ms (missed cycles : 3). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679577 ms (missed cycles : 3).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.750545 ms (missed cycles : 6). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.750545 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 40.4s | 6 errors · 152 warnings · 16408 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306154 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306154 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311973 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311973 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473601 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473601 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788491086.62515140 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055931 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055931 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_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: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788491087.28299546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.55sINFOros2_control_node[2026-09-04 03:04:47.446] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-04 03:04:47.446] [info] Accepted new action goal ×2 + 4.06sWARNros2_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399490 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399490 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928124 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928124 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430025 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430025 ms (missed cycles : 2).[0m ×2 + 6.99sINFOjoint_trajectory_controllerReceived new action goal ×2690 + 6.99sINFOjoint_trajectory_controllerAccepted new action goal ×2689 + 6.99sINFOros2_control_nodeReceived new action goal[0m ×5380 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×5378 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074052 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074052 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620125 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620125 ms (missed cycles : 2).[0m ×2 + 9.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048276 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048276 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722493 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722493 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485896 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485896 ms (missed cycles : 2).[0m ×2 + 11.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.88sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.88sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407057 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407057 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128413 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128413 ms (missed cycles : 2).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663371 ms (missed cycles : 3). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663371 ms (missed cycles : 3).[0m ×2 + 15.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504766 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504766 ms (missed cycles : 3).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164211 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164211 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480348 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480348 ms (missed cycles : 3).[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678246 ms (missed cycles : 4). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678246 ms (missed cycles : 4).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619941 ms (missed cycles : 4). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619941 ms (missed cycles : 4).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931137 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931137 ms (missed cycles : 2).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159013 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159013 ms (missed cycles : 3).[0m ×2 + 21.84sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 21.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 21.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1788491104.806202) that ends in the past (1788491105.826202) + 21.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1788491104.806202) that ends in the past (1788491105.826202)[0m ×2 + 21.94sERRORobjective_server_nodeMPCSphereClearance Error: The trajectory controller at '/joint_trajectory_controller/follow_joint_trajectory' rejected a streamed MPC trajectory goal. Check the controller's log for the rejection reason. ×3 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156914 ms (missed cycles : 2). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156914 ms (missed cycles : 2).[0m ×2 + 23.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×4 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738143 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738143 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916762 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916762 ms (missed cycles : 2).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627156 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627156 ms (missed cycles : 3).[0m ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058219 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058219 ms (missed cycles : 2).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336544 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336544 ms (missed cycles : 2).[0m ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418715 ms (missed cycles : 3). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418715 ms (missed cycles : 3).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610912 ms (missed cycles : 2). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610912 ms (missed cycles : 2).[0m ×2 + 30.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548911 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548911 ms (missed cycles : 3).[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823768 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823768 ms (missed cycles : 2).[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712350 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712350 ms (missed cycles : 2).[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527853 ms (missed cycles : 4). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527853 ms (missed cycles : 4).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810193 ms (missed cycles : 2). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810193 ms (missed cycles : 2).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675129 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675129 ms (missed cycles : 2).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721431 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721431 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270517 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270517 ms (missed cycles : 2).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143678 ms (missed cycles : 5). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143678 ms (missed cycles : 5).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898588 ms (missed cycles : 2). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898588 ms (missed cycles : 2).[0m ×2 + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184193 ms (missed cycles : 2). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184193 ms (missed cycles : 2).[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696140 ms (missed cycles : 2). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696140 ms (missed cycles : 2).[0m ×2 + 43.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491127.02801728 seconds ×3 + 43.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 43.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 43.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 43.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 43.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 43.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066624 ms (missed cycles : 2). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066624 ms (missed cycles : 2).[0m ×2 + 43.67sINFOobjective_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: ""
+ 43.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 43.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788491127.65963578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 43.82sINFOobjective_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 + 43.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 43.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 43.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 43.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 43.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 43.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 43.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 43.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 43.92sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 43.94sINFOros2_control_node[2026-09-04 03:05:27.833] [info] Received new action goal ×2 + 43.94sINFOros2_control_node[2026-09-04 03:05:27.833] [info] Accepted new action goal ×2 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889495 ms (missed cycles : 4). + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889495 ms (missed cycles : 4).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920530 ms (missed cycles : 2). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920530 ms (missed cycles : 2).[0m ×2 + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841004 ms (missed cycles : 3). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841004 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13254 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2176 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2176 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4352 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4352 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898588 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898588 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184193 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184193 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696140 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696140 ms (missed cycles : 2).[0m ×2 + 2.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491127.02801728 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.35sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066624 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066624 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×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 `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788491127.65963578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.15sINFOros2_control_node[2026-09-04 03:05:27.833] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 03:05:27.833] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889495 ms (missed cycles : 4). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889495 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920530 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920530 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841004 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841004 ms (missed cycles : 3).[0m ×2 + 7.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.143497 ms (missed cycles : 7). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.143497 ms (missed cycles : 7).[0m ×2 + 8.74sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396760 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396760 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746635 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746635 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765364 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765364 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198173 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198173 ms (missed cycles : 2).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803377 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803377 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206640 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206640 ms (missed cycles : 2).[0m ×2 + 14.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704754 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704754 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799056 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799056 ms (missed cycles : 2).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762210 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762210 ms (missed cycles : 2).[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639349 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639349 ms (missed cycles : 3).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888205 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888205 ms (missed cycles : 2).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948750 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948750 ms (missed cycles : 2).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270142 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270142 ms (missed cycles : 2).[0m ×2 + 21.61sWARNros2_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 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 25.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 26.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.33sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 26.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.34sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 27.27sWARNros2_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 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.791141 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.791141 ms (missed cycles : 8).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.91sINFOobjective_server_nodeFound path in 1 iterations (0.00398104 s). ×2 + 1.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.14sINFOros2_control_node[2026-09-04 03:03:33.503] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 03:03:33.503] [info] Accepted new action goal ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771831 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771831 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_node[2026-09-04 03:03:33.905] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-09-04 03:03:33.905] [info] Accepted new action goal ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759977 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759977 ms (missed cycles : 2).[0m ×2 + 2.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.12sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.15sERRORobjective_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: 1788491015.51160598 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435086 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435086 ms (missed cycles : 3).[0m ×2 + 3.56sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788491016.33716631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 03:03:36.471] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 03:03:36.471] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108698 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108698 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531115 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531115 ms (missed cycles : 2).[0m ×2 + 6.61sINFOros2_control_node[2026-09-04 03:03:38.971] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-04 03:03:38.971] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655473 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655473 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705116 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705116 ms (missed cycles : 3).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912959 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912959 ms (missed cycles : 2).[0m ×2 + 9.60sWARNros2_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 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736459 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736459 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934564 ms (missed cycles : 5). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934564 ms (missed cycles : 5).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872585 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872585 ms (missed cycles : 3).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2).[0m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491027.53229952 seconds ×3 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5).[0m ×2 + 15.58sWARNros2_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 + 15.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.71sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491028.12318945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491028.19333601 seconds ×3 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 16.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.57sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.73sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.74sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 16.74sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 18.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOobjective_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 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.65sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.65sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.65sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.446475 ms (missed cycles : 9). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.446475 ms (missed cycles : 9).[0m ×2 + 1.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.53sINFOros2_control_node[2026-09-04 03:04:33.738] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-09-04 03:04:33.738] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908359 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908359 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788491074.89433861 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914961 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914961 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788491075.66499424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.538012 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.538012 ms (missed cycles : 6).[0m ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.71sINFOros2_control_node[2026-09-04 03:04:36.919] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-09-04 03:04:36.919] [info] Accepted new action goal ×2 + 4.92sWARNros2_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 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679577 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679577 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.750545 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.750545 ms (missed cycles : 6).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997738 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997738 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390426 ms (missed cycles : 6). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390426 ms (missed cycles : 6).[0m ×2 + 8.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.41sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.41sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468418 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468418 ms (missed cycles : 2).[0m ×2 + 9.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.979853 ms (missed cycles : 6). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.979853 ms (missed cycles : 6).[0m ×2 + 10.79sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.81sINFOros2_control_node[2026-09-04 03:04:43.019] [info] Received new action goal ×2 + 10.81sINFOros2_control_node[2026-09-04 03:04:43.019] [info] Accepted new action goal ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306154 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306154 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311973 ms (missed cycles : 4). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311973 ms (missed cycles : 4).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473601 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473601 ms (missed cycles : 4).[0m ×2 + 14.42sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788491086.62515140 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055931 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055931 ms (missed cycles : 3).[0m ×2 + 15.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.02sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788491087.28299546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 15.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.24sINFOros2_control_node[2026-09-04 03:04:47.446] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-09-04 03:04:47.446] [info] Accepted new action goal ×2 + 15.75sWARNros2_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 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399490 ms (missed cycles : 4). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399490 ms (missed cycles : 4).[0m ×2 + 16.51sINFOobjective_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 + 16.52sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928124 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928124 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430025 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430025 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 59 errors · 42 warnings · 391 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_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 + 1.00sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 1.00sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 1.01sERRORobjective_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: 1788491204.97735810 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.55sINFOobjective_server_nodecaller: ×8 + 1.55sINFOobjective_server_nodetype: 0 ×8 + 1.55sINFOobjective_server_nodename: "" ×8 + 1.55sINFOobjective_server_nodeinstance_id: "" ×8 + 1.55sINFOobjective_server_node ×8 + 1.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.87sINFOobjective_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 + 2.87sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2).[0m ×2 + 5.07sWARNros2_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 + 5.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491209.36335111 seconds ×3 + 5.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502208 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502208 ms (missed cycles : 5).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606568 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606568 ms (missed cycles : 6).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910616 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910616 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841462 ms (missed cycles : 5). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841462 ms (missed cycles : 5).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704645 ms (missed cycles : 5). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704645 ms (missed cycles : 5).[0m ×2 + 10.94sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.96sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_video_auth_proxy-23process has died [pid 7488, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.96sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.96sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.97sERRORweb_bridge_auth_proxy-22process has died [pid 7487, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.97sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.97sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.97sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.98sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261788 ms (missed cycles : 5). + 10.99sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.99sINFOvideo_server-21process has finished cleanly [pid 7486] ×2 + 10.99sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.00sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.00sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.01sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.01sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.01sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.02sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.03sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.03sINFOcontroller_managerShutdown request received.... + 11.03sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.03sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.03sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.03sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.03sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.03sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.03sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.03sINFOvideo_server2026/09/04 03:06:54 INF shutting down gracefully ×2 + 11.03sINFOvideo_server2026/09/04 03:06:54 INF [WebRTC] closing ×2 + 11.03sINFOvideo_server2026/09/04 03:06:54 INF [RTSP] closing ×2 + 11.03sINFOvideo_server2026/09/04 03:06:54 INF waiting for running hooks ×2 + 11.03sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.03sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.03sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.03sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.03sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.03sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.03sINFOcontroller_managerShutting down the controller manager. + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261788 ms (missed cycles : 5).[0m ×2 + 11.03sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.03sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.03sERRORmove_groupStack trace (most recent call last) in thread 7834: ×2 + 11.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.03sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.03sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.03sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.03sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.03sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.03sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.03sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.03sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.03sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.04sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.04sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a8cfaca63, in __clone ×2 + 11.04sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a8cf1faa3, in ×2 + 11.04sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6a8d1b1db3, in ×2 + 11.04sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6a8d916a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.04sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6a8d543620, in rclcpp::Rate::sleep() ×2 + 11.04sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.04sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6a8d485d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.04sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6a8d447087, in ×2 + 11.04sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6a8d180390, in __cxa_throw ×2 + 11.04sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6a8d16aa54, in std::terminate() ×2 + 11.04sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6a8d1800d9, in ×2 + 11.04sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6a8d16aff4, in ×2 + 11.04sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a8ceab8fe, in abort ×2 + 11.04sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a8cec827d, in raise ×2 + 11.04sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6a8cf21b2c, in pthread_kill ×2 + 11.04sERRORmove_groupAborted (Signal sent by tkill() 7399 0) ×2 + 11.05sERRORmove_group-9process has died [pid 7399, 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_sbmxm9vh --params-file /tmp/launch_params_m3pjeq11 --params-file /tmp/launch_params_2ofpns8_ --params-file /tmp/launch_params_a0yy962c --params-file /tmp/launch_params_py1sw1ys --params-file /tmp/launch_params__3aepsf_']. ×2 + 11.19sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.19sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.20sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.02sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7485] ×2 + 12.02sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.05sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7403] ×2 + 12.05sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7402] ×2 + 12.09sINFOwaypoint_manager_node-11process has finished cleanly [pid 7401] ×2 + 12.09sINFOui_teleop_bridge-18process has finished cleanly [pid 7408] ×2 + 12.09sINFOcomponent_container_mt-16process has finished cleanly [pid 7406] ×2 + 12.10sINFOparameter_manager_node-10process has finished cleanly [pid 7400] ×2 + 12.10sINFOexecute_objective_bridge-17process has finished cleanly [pid 7407] ×2 + 12.18sINFOobjective_server_node[0;m[2026-09-04 03:06:56.146] [moveit_pro_license] [info] ×2 + 12.18sINFOobjective_server_node************************************************* ×4 + 12.18sINFOobjective_server_node* MoveIt Pro License ×2 + 12.18sINFOobjective_server_node* Application has successfully terminated ×2 + 12.31sINFOobjective_server_node_main-14process has finished cleanly [pid 7404] ×2 + 12.31sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.18sINFOcomponent_container_mt-15process has finished cleanly [pid 7405] ×2 + 13.43sINFOweb_bridge-19process has finished cleanly [pid 7409] ×2 + 13.43sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.62sINFOros2_control_node-1process has finished cleanly [pid 7358] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 60 warnings · 412 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.91sERRORobjective_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: 1788491192.47315836 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.50sINFOobjective_server_nodecaller: ×14 + 2.50sINFOobjective_server_nodetype: 0 ×14 + 2.50sINFOobjective_server_nodename: "" ×14 + 2.50sINFOobjective_server_nodeinstance_id: "" ×14 + 2.50sINFOobjective_server_node ×14 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 3.28sWARNros2_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 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4).[0m ×2 + 7.41sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.42sINFOros2_control_node[2026-09-04 03:06:37.976] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-09-04 03:06:37.976] [info] Accepted new action goal ×2 + 7.42sINFOros2_control_node[2026-09-04 03:06:37.976] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139138 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139138 ms (missed cycles : 2).[0m ×2 + 8.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713850 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713850 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269652 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269652 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914864 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914864 ms (missed cycles : 3).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007154 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007154 ms (missed cycles : 4).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3).[0m ×2 + 13.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 14.41sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 14.41sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 14.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491204.97735810 seconds ×3 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 16.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.28sINFOobjective_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 + 16.28sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.28sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 16.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.82sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 17.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.41sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268102 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268102 ms (missed cycles : 2).[0m ×2 + 0.69sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.96sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788491002.12568974 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168887 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168887 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415540 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415540 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701733 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701733 ms (missed cycles : 2).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×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 `Grasp Pose Using Yaml` starting at time: 1788491005.09766889 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 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×4 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 03:03:25.291] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 03:03:25.291] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360177 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360177 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273485 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273485 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314270 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314270 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671877 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671877 ms (missed cycles : 4).[0m ×2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.14sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 1 iterations (0.00463328 s). ×2 + 8.83sWARNros2_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 + 8.88sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 2 iterations (0.00512589 s). ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957656 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957656 ms (missed cycles : 3).[0m ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.05sINFOobjective_server_nodeFound path in 1 iterations (0.00334711 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.47sINFOros2_control_node[2026-09-04 03:03:30.604] [info] Received new action goal ×2 + 9.47sINFOros2_control_node[2026-09-04 03:03:30.604] [info] Accepted new action goal ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222904 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222904 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.791141 ms (missed cycles : 8). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.791141 ms (missed cycles : 8).[0m ×2 + 11.30sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.00sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 12.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.02sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 12.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 12.14sINFOobjective_server_nodeFound path in 1 iterations (0.00398104 s). ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.37sINFOros2_control_node[2026-09-04 03:03:33.503] [info] Received new action goal ×2 + 12.37sINFOros2_control_node[2026-09-04 03:03:33.503] [info] Accepted new action goal ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771831 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771831 ms (missed cycles : 3).[0m ×2 + 12.77sINFOros2_control_node[2026-09-04 03:03:33.905] [info] Received new action goal ×2 + 12.77sINFOros2_control_node[2026-09-04 03:03:33.905] [info] Accepted new action goal ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759977 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759977 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.35sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.38sERRORobjective_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: 1788491015.51160598 seconds ×3 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435086 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435086 ms (missed cycles : 3).[0m ×2 + 14.79sWARNros2_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 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788491016.33716631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 15.34sINFOros2_control_node[2026-09-04 03:03:36.471] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-09-04 03:03:36.471] [info] Accepted new action goal ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108698 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108698 ms (missed cycles : 2).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531115 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531115 ms (missed cycles : 2).[0m ×2 + 17.84sINFOros2_control_node[2026-09-04 03:03:38.971] [info] Received new action goal ×2 + 17.84sINFOros2_control_node[2026-09-04 03:03:38.971] [info] Accepted new action goal ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655473 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655473 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161859 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275062 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275062 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 2.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.09sINFOros2_control_node[2026-09-04 03:02:39.735] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:02:39.735] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037147 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037147 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.35sINFOros2_control_node[2026-09-04 03:02:39.991] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-04 03:02:39.991] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1788490960.00702810 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.95sINFOobjective_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: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.95sINFOobjective_server_nodecaller: ×6 + 2.95sINFOobjective_server_nodetype: 0 ×6 + 2.95sINFOobjective_server_nodename: "" ×6 + 2.95sINFOobjective_server_nodeinstance_id: "" ×6 + 2.95sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788490960.68934679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-04 03:02:40.903] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-04 03:02:40.903] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227409 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227409 ms (missed cycles : 2).[0m ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875605 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875605 ms (missed cycles : 5).[0m ×2 + 5.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.694715 ms (missed cycles : 8). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.694715 ms (missed cycles : 8).[0m ×2 + 5.53sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.55sINFOros2_control_node[2026-09-04 03:02:43.193] [info] Received new action goal ×2 + 5.55sINFOros2_control_node[2026-09-04 03:02:43.193] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607463 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607463 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135920 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135920 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001112 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001112 ms (missed cycles : 4).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366806 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366806 ms (missed cycles : 3).[0m ×2 + 10.39sWARNros2_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 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 13.34sERRORobjective_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: 1788490970.98000765 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.90sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 16.48sWARNros2_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 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697425 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697425 ms (missed cycles : 3).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377759 ms (missed cycles : 6). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377759 ms (missed cycles : 6).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809154 ms (missed cycles : 6). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809154 ms (missed cycles : 6).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636636 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636636 ms (missed cycles : 3).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911226 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911226 ms (missed cycles : 3).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600896 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600896 ms (missed cycles : 2).[0m ×2 + 13.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.06sERRORobjective_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: 1788491170.97377110 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294922 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294922 ms (missed cycles : 3).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788491171.57921028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 15.02sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.04sINFOros2_control_node[2026-09-04 03:06:11.954] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-04 03:06:11.954] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529058 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529058 ms (missed cycles : 3).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627226 ms (missed cycles : 6). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627226 ms (missed cycles : 6).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637059 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637059 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013177 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013177 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202416 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202416 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986544 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986544 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788491181.56276393 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190173 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190173 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.54sINFOobjective_server_nodecaller: ×8 + 3.54sINFOobjective_server_nodetype: 0 ×8 + 3.54sINFOobjective_server_nodename: "" ×8 + 3.54sINFOobjective_server_nodeinstance_id: "" ×8 + 3.54sINFOobjective_server_node ×8 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788491182.16289163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.73sINFOros2_control_node[2026-09-04 03:06:22.296] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 03:06:22.296] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252928 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252928 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218016 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218016 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133854 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133854 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725750 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725750 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057525 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057525 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120251 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120251 ms (missed cycles : 4).[0m ×2 + 10.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 13.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sERRORobjective_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: 1788491192.47315836 seconds ×3 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.58sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 15.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOobjective_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 + 15.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 15.28sWARNros2_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 + 15.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.09sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 16.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.09sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 16.09sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392379 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392379 ms (missed cycles : 4).[0m ×2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.20sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 1 iterations (0.00297247 s). ×2 + 7.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 2 iterations (0.00704846 s). ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898209 ms (missed cycles : 5). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898209 ms (missed cycles : 5).[0m ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 1 iterations (0.00352684 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.43sINFOros2_control_node[2026-09-04 03:03:19.561] [info] Received new action goal ×2 + 8.43sINFOros2_control_node[2026-09-04 03:03:19.561] [info] Accepted new action goal ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231507 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231507 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268102 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268102 ms (missed cycles : 2).[0m ×2 + 10.69sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.96sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788491002.12568974 seconds ×3 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168887 ms (missed cycles : 4). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168887 ms (missed cycles : 4).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415540 ms (missed cycles : 3). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415540 ms (missed cycles : 3).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701733 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701733 ms (missed cycles : 2).[0m ×2 + 13.80sWARNros2_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 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.96sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788491005.09766889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 14.16sINFOros2_control_node[2026-09-04 03:03:25.291] [info] Received new action goal ×2 + 14.16sINFOros2_control_node[2026-09-04 03:03:25.291] [info] Accepted new action goal ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360177 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360177 ms (missed cycles : 4).[0m ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273485 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273485 ms (missed cycles : 3).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314270 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314270 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_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 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.30sINFOobjective_server_nodecaller: ×6 + 2.30sINFOobjective_server_nodetype: 0 ×6 + 2.30sINFOobjective_server_nodename: "" ×6 + 2.30sINFOobjective_server_nodeinstance_id: "" ×6 + 2.30sINFOobjective_server_node ×6 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 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 2.138853 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_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 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.59sINFOros2_control_node[2026-09-04 03:03:06.872] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 03:03:06.872] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478243 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478243 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987050 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987050 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698242 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698242 ms (missed cycles : 2).[0m ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 8.93sINFOros2_control_node[2026-09-04 03:03:09.219] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-09-04 03:03:09.219] [info] Accepted new action goal ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027625 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027625 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 11.29sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 11.29sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 11.84sWARNros2_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 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 13.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.29sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 13.29sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 13.30sERRORobjective_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: 1788490993.59129715 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 14.13sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 14.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.14sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 14.14sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_nodecaller: ×4 + 3.94sINFOobjective_server_nodetype: 0 ×4 + 3.94sINFOobjective_server_nodename: "" ×4 + 3.94sINFOobjective_server_nodeinstance_id: "" ×4 + 3.94sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956378 ms (missed cycles : 5). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956378 ms (missed cycles : 5).[0m ×2 + 8.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 1 iterations (0.00391517 s). ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194356 ms (missed cycles : 4). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194356 ms (missed cycles : 4).[0m ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.11sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.13sINFOros2_control_node[2026-09-04 03:05:54.939] [info] Received new action goal ×2 + 9.13sINFOros2_control_node[2026-09-04 03:05:54.939] [info] Accepted new action goal ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986279 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986279 ms (missed cycles : 2).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 11.14sWARNros2_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 + 11.43sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 13.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.20sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 13.20sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 14.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.16sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 14.16sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 14.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 14.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.02sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 16.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.31sWARNros2_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 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 0.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sWARNros2_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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[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: 1788490947.05876517 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: 1788490947.11895251 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.64sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.16sINFOros2_control_node[2026-09-04 03:02:32.605] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-04 03:02:32.605] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699648 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699648 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937766 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937766 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.522356 ms (missed cycles : 6). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.522356 ms (missed cycles : 6).[0m ×2 + 9.36sWARNros2_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 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 9.96sINFOros2_control_node[2026-09-04 03:02:36.405] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-09-04 03:02:36.405] [info] Accepted new action goal ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161859 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161859 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275062 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275062 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.29sINFOros2_control_node[2026-09-04 03:02:39.735] [info] Received new action goal ×2 + 13.29sINFOros2_control_node[2026-09-04 03:02:39.735] [info] Accepted new action goal ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037147 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037147 ms (missed cycles : 4).[0m ×2 + 13.53sINFOobjective_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 + 13.54sINFOros2_control_node[2026-09-04 03:02:39.991] [info] Got request to cancel active goal. ×2 + 13.54sINFOros2_control_node[2026-09-04 03:02:39.991] [info] Canceling active goal... ×2 + 13.56sERRORobjective_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: 1788490960.00702810 seconds ×3 + 13.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOobjective_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: ""
+ 14.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788490960.68934679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 14.45sINFOros2_control_node[2026-09-04 03:02:40.903] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-09-04 03:02:40.903] [info] Accepted new action goal ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227409 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227409 ms (missed cycles : 2).[0m ×2 + 15.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875605 ms (missed cycles : 5). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875605 ms (missed cycles : 5).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.694715 ms (missed cycles : 8). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.694715 ms (missed cycles : 8).[0m ×2 + 16.73sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.75sINFOros2_control_node[2026-09-04 03:02:43.193] [info] Received new action goal ×2 + 16.75sINFOros2_control_node[2026-09-04 03:02:43.193] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636636 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636636 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911226 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911226 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600896 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600896 ms (missed cycles : 2).[0m ×2 + 3.05sWARNros2_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 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788491170.97377110 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294922 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294922 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788491171.57921028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 03:06:11.954] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 03:06:11.954] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529058 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529058 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627226 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627226 ms (missed cycles : 6).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637059 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637059 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679842 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679842 ms (missed cycles : 3).[0m ×2 + 8.19sINFOros2_control_node[2026-09-04 03:06:15.972] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-04 03:06:15.972] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521213 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521213 ms (missed cycles : 3).[0m ×2 + 9.23sWARNros2_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 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089564 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089564 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013177 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013177 ms (missed cycles : 3).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202416 ms (missed cycles : 4). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202416 ms (missed cycles : 4).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986544 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986544 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788491181.56276393 seconds ×3 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190173 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190173 ms (missed cycles : 2).[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 14.38sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788491182.16289163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.52sINFOros2_control_node[2026-09-04 03:06:22.296] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-09-04 03:06:22.296] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252928 ms (missed cycles : 4). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252928 ms (missed cycles : 4).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218016 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218016 ms (missed cycles : 2).[0m ×2 + 16.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133854 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133854 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.3s | 3 errors · 52 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490970.98000765 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_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 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.41sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524341 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524341 ms (missed cycles : 3).[0m ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 1 iterations (0.00349541 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.07sINFOros2_control_node[2026-09-04 03:02:56.692] [info] Received new action goal ×2 + 8.07sINFOros2_control_node[2026-09-04 03:02:56.692] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097709 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097709 ms (missed cycles : 3).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695497 ms (missed cycles : 6). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695497 ms (missed cycles : 6).[0m ×2 + 10.37sINFOros2_control_node[2026-09-04 03:02:58.994] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-04 03:02:58.994] [info] Accepted new action goal ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179671 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179671 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 12.12sWARNros2_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 + 12.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.14sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 12.14sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 13.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 14.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.77sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.89sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491027.53229952 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5).[0m ×2 + 2.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491028.12318945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491028.19333601 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 7.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.12sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.18sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.26sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.27sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.59sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 7.59sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 8.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 669 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.49sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.51sINFOcomponent_container_mt[2026-09-04 03:02:22.368] [moveit_pro_license] [info] ×2 + 0.51sINFOcomponent_container_mt************************************************* ×4 + 0.51sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.51sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.54sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.54sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.54sWARNros2_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 + 0.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.54sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.54sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.54sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.54sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.54sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.54sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.54sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.54sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.54sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.54sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.79sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.82sINFOros2_control_node[2026-09-04 03:02:22.677] [info] Controller state will be published at 20 Hz. ×2 + 0.82sINFOros2_control_node[2026-09-04 03:02:22.677] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.08sINFOros2_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 + 1.08sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.08sWARNros2_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 + 1.12sINFOros2-8process has finished cleanly [pid 7376] ×2 + 1.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 1.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.20sINFOros2_control_node[2026-09-04 03:02:23.062] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-09-04 03:02:23.064] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.55sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 1.56sINFOros2-7process has finished cleanly [pid 7375] ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448428 ms (missed cycles : 4). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448428 ms (missed cycles : 4).[0m ×2 + 1.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.59sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.80sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.95sINFOros2-4process has finished cleanly [pid 7372] ×2 + 1.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.02sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.02sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.02sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.05sINFOros2_control_node[2026-09-04 03:02:23.905] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.05sINFOros2_control_node[2026-09-04 03:02:23.906] [info] Controller state will be published at 50 Hz. ×2 + 2.05sINFOros2_control_node[2026-09-04 03:02:23.912] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 2.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 2.41sINFOros2-6process has finished cleanly [pid 7374] ×2 + 2.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.42sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.42sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.42sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.43sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.43sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.43sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.68sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.72sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.72sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.72sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.72sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.72sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 2.72sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 2.73sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.73sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.74sINFOros2-5process has finished cleanly [pid 7373] ×2 + 2.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 2.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.83sINFOobjective_server_nodecaller: ×14 + 2.83sINFOobjective_server_nodetype: 0 ×14 + 2.83sINFOobjective_server_nodename: "" ×14 + 2.83sINFOobjective_server_nodeinstance_id: "" ×14 + 2.83sINFOobjective_server_node ×14 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.11sINFOros2-3process has finished cleanly [pid 7360] ×2 + 3.12sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.12sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.12sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.12sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 3.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 3.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.18sINFOcontroller_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 + 3.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.19sINFOros2_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 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 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 + 3.59sINFOros2-2process has finished cleanly [pid 7359] ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 4.68sWARNros2_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 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 7.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 8.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.23sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 8.23sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007154 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007154 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1788491204.97735810 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 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 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.58sINFOobjective_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 + 4.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491209.36335111 seconds ×3 + 7.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 03:02:58.994] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 03:02:58.994] [info] Accepted new action goal ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179671 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179671 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 1.75sWARNros2_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 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.39sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 7.16sWARNros2_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 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sERRORobjective_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: 1788490970.98000765 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 6.09sWARNros2_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 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 3.05sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_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: 1788491192.47315836 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[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 4.872585 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872585 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491027.53229952 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5).[0m ×2 + 3.43sWARNros2_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 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491028.12318945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491028.19333601 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 28 warnings · 522 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2-4process has finished cleanly [pid 7372] ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.905] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.906] [info] Controller state will be published at 50 Hz. ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.912] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 7374] ×2 + 0.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-5process has finished cleanly [pid 7373] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.03sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.03sINFOobjective_server_nodecaller: ×14 + 1.03sINFOobjective_server_nodetype: 0 ×14 + 1.03sINFOobjective_server_nodename: "" ×14 + 1.03sINFOobjective_server_nodeinstance_id: "" ×14 + 1.03sINFOobjective_server_node ×14 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 1.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7360] ×2 + 1.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.32sINFOros2_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_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sINFOros2-2process has finished cleanly [pid 7359] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 2.88sWARNros2_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1788491192.47315836 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.50sINFOobjective_server_nodecaller: ×6 + 2.50sINFOobjective_server_nodetype: 0 ×6 + 2.50sINFOobjective_server_nodename: "" ×6 + 2.50sINFOobjective_server_nodeinstance_id: "" ×6 + 2.50sINFOobjective_server_node ×6 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 3.28sWARNros2_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 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_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 + 1.64sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 1.64sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 1.65sERRORobjective_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: 1788491204.97735810 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.51sINFOobjective_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 + 3.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2).[0m ×2 + 5.71sWARNros2_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 + 6.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491209.36335111 seconds ×3 + 6.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502208 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502208 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_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 + 1.64sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 1.64sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 1.65sERRORobjective_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: 1788491204.97735810 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.51sINFOobjective_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 + 3.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938416 ms (missed cycles : 2).[0m ×2 + 5.71sWARNros2_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 + 6.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491209.36335111 seconds ×3 + 6.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502208 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502208 ms (missed cycles : 5).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606568 ms (missed cycles : 6). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606568 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_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 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 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 2.138853 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_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 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490970.98000765 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_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 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sERRORobjective_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: 1788490970.98000765 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 6.09sWARNros2_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 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sERRORobjective_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: 1788490970.98000765 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 6.09sWARNros2_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 | ||||
| − 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 11.854964 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490970.98000765 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_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 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490970.98000765 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_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 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.854964 ms (missed cycles : 8).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.741637 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541916 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788490970.98000765 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788490971.57443047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788490971.66455746 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160603 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788490972.33236098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:02:52.546] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597638 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869154 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_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 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663288 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_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 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 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 2.138853 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_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 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_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 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 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 2.138853 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_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 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_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 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 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 2.138853 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_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 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608147 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_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 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 03:03:00.756] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111053 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788490982.04337263 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788490982.66737080 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 2.138853 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138853 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788490982.74750209 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788490983.38771629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 03:03:03.512] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420520 ms (missed cycles : 2).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516639 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.144628 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_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 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395740 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-09-04 03:03:11.580] [info] Accepted new action goal ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123799 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Got request to cancel active goal. ×2 + 2.44sINFOros2_control_node[2026-09-04 03:03:13.578] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788490993.59129715 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788490994.22360897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341918 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 03:03:14.427] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338203 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278387 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.791141 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.791141 ms (missed cycles : 8).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.91sINFOobjective_server_nodeFound path in 1 iterations (0.00398104 s). ×2 + 1.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOros2_control_node[2026-09-04 03:03:33.503] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 03:03:33.503] [info] Accepted new action goal ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771831 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771831 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_node[2026-09-04 03:03:33.905] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-09-04 03:03:33.905] [info] Accepted new action goal ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759977 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759977 ms (missed cycles : 2).[0m ×2 + 2.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.12sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.15sERRORobjective_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: 1788491015.51160598 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435086 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435086 ms (missed cycles : 3).[0m ×2 + 3.56sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788491016.33716631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 03:03:36.471] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 03:03:36.471] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108698 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108698 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531115 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531115 ms (missed cycles : 2).[0m ×2 + 6.61sINFOros2_control_node[2026-09-04 03:03:38.971] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-04 03:03:38.971] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655473 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655473 ms (missed cycles : 3).[0m ×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 4.872585 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872585 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331986 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.926867 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491027.53229952 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051525 ms (missed cycles : 5).[0m ×2 + 3.43sWARNros2_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 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491028.12318945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491028.19333601 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493477 ms (missed cycles : 5).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491028.97805357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-04 03:03:49.102] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802139 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823848 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491031.10817742 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236024 ms (missed cycles : 4).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491032.72413349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694069 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 03:03:53.131] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660213 ms (missed cycles : 6).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082505 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306154 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306154 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311973 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311973 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473601 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473601 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788491086.62515140 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055931 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055931 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_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: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788491087.28299546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.55sINFOros2_control_node[2026-09-04 03:04:47.446] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-04 03:04:47.446] [info] Accepted new action goal ×2 + 4.06sWARNros2_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399490 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399490 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928124 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928124 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430025 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430025 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772122 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055430 ms (missed cycles : 5).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918769 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788491149.15061235 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949346 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788491149.83222747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 03:05:50.026] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135336 ms (missed cycles : 3).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138491 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065295 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654680 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-04 03:05:57.241] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064851 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-09-04 03:05:59.006] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488600 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-09-04 03:05:59.972] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491159.98748350 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080310 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788491160.64335513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 03:06:00.827] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077686 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519621 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636636 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636636 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911226 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911226 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600896 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600896 ms (missed cycles : 2).[0m ×2 + 3.05sWARNros2_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 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788491170.97377110 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294922 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294922 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788491171.57921028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 03:06:11.954] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 03:06:11.954] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529058 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529058 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627226 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627226 ms (missed cycles : 6).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637059 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637059 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 4.013177 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013177 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202416 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202416 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986544 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986544 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788491181.56276393 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190173 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190173 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788491182.16289163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.73sINFOros2_control_node[2026-09-04 03:06:22.296] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 03:06:22.296] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252928 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252928 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218016 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218016 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133854 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133854 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 3.05sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_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: 1788491192.47315836 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 3.05sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_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: 1788491192.47315836 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 3.05sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_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: 1788491192.47315836 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507230 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 3.05sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_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: 1788491192.47315836 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1788491192.47315836 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.50sINFOobjective_server_nodecaller: ×6 + 2.50sINFOobjective_server_nodetype: 0 ×6 + 2.50sINFOobjective_server_nodename: "" ×6 + 2.50sINFOobjective_server_nodeinstance_id: "" ×6 + 2.50sINFOobjective_server_node ×6 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 3.28sWARNros2_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 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1788491192.47315836 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.50sINFOobjective_server_nodecaller: ×6 + 2.50sINFOobjective_server_nodetype: 0 ×6 + 2.50sINFOobjective_server_nodename: "" ×6 + 2.50sINFOobjective_server_nodeinstance_id: "" ×6 + 2.50sINFOobjective_server_node ×6 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 3.28sWARNros2_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 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972852 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443131 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1788491192.47315836 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.50sINFOobjective_server_nodecaller: ×6 + 2.50sINFOobjective_server_nodetype: 0 ×6 + 2.50sINFOobjective_server_nodename: "" ×6 + 2.50sINFOobjective_server_nodeinstance_id: "" ×6 + 2.50sINFOobjective_server_node ×6 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788491193.11209512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788491193.19221854 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468011 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788491193.78809643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788491193.81042671 seconds ×3 + 3.28sWARNros2_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 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788491194.53271914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 03:06:34.657] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965633 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412222 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946505 ms (missed cycles : 4).[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 6.007154 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007154 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1788491204.97735810 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 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 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.58sINFOobjective_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 + 4.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 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 6.007154 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007154 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383930 ms (missed cycles : 3).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031736 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-09-04 03:06:44.972] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1788491204.97735810 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445858 ms (missed cycles : 3).[0m ×2 + 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 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491205.57389021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491206.23403096 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097959 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788491206.83816981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.58sINFOobjective_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 + 4.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788491206.84115815 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788491207.43555617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788491207.43627405 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276455 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491208.02320600 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 · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.9s | 37 warnings · 728 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/2026-09-04-03-02-17-836331-9a3e0cbf418c-7310 ×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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086263 ms (missed cycles : 3). + 0.85sINFOros2_control_node-1process started with pid [7358] ×2 + 0.85sINFOmove_group-9process started with pid [7399] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7400] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7401] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7402] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7403] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7404] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7405] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7406] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7407] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7408] ×2 + 0.85sINFOweb_bridge-19process started with pid [7409] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7485] ×2 + 0.85sINFOvideo_server-21process started with pid [7486] ×2 + 0.85sINFOweb_bridge_auth_proxy-22process started with pid [7487] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7488] ×2 + 0.85sINFOros2-2process started with pid [7359] ×2 + 0.85sINFOros2-3process started with pid [7360] ×2 + 0.85sINFOros2-4process started with pid [7372] ×2 + 0.85sINFOros2-5process started with pid [7373] ×2 + 0.85sINFOros2-6process started with pid [7374] ×2 + 0.85sINFOros2-7process started with pid [7375] ×2 + 0.85sINFOros2-8process started with pid [7376] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086263 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF configuration loaded from /tmp/moveit-webrtc-fkn69yp0/mediamtx.yml ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 03:02:19.945] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOmove_group ×4 + 2.12sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.15sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.15sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.16sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.17sINFOros2_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 + 2.17sINFOros2_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 + 2.23sINFOwaypoint_manager_node[2026-09-04 03:02:20.445] [moveit_pro_license] [info] ×2 + 2.23sINFOwaypoint_manager_node************************************************* ×4 + 2.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.016036 ms (missed cycles : 7). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.016036 ms (missed cycles : 7).[0m ×2 + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOobjective_server_node[2026-09-04 03:02:21.323] [moveit_pro_license] [info] ×2 + 3.11sINFOobjective_server_node************************************************* ×4 + 3.11sINFOobjective_server_node* MoveIt Pro License ×2 + 3.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.24sINFOobjective_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 + 3.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.25sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.25sINFOobjective_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 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.53sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.13sWARNobjective_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 + 4.15sINFOcomponent_container_mt[2026-09-04 03:02:22.368] [moveit_pro_license] [info] ×2 + 4.15sINFOcomponent_container_mt************************************************* ×4 + 4.15sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.15sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.18sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.18sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.18sWARNros2_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 + 4.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.18sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.18sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.18sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.18sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.18sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.18sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.31sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.31sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.31sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.31sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 4.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 4.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.43sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.44sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.46sINFOros2_control_node[2026-09-04 03:02:22.677] [info] Controller state will be published at 20 Hz. ×2 + 4.46sINFOros2_control_node[2026-09-04 03:02:22.677] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.72sINFOros2_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 + 4.72sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.72sWARNros2_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 + 4.76sINFOros2-8process has finished cleanly [pid 7376] ×2 + 4.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 4.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 4.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.82sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.84sINFOros2_control_node[2026-09-04 03:02:23.062] [info] Controller state will be published at 10 Hz. ×2 + 4.85sINFOros2_control_node[2026-09-04 03:02:23.064] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.19sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.19sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 5.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 5.20sINFOros2-7process has finished cleanly [pid 7375] ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448428 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448428 ms (missed cycles : 4).[0m ×2 + 5.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.24sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.55sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.55sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.55sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.60sINFOros2-4process has finished cleanly [pid 7372] ×2 + 5.63sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 5.63sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 5.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.66sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.66sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.66sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.69sINFOros2_control_node[2026-09-04 03:02:23.905] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.69sINFOros2_control_node[2026-09-04 03:02:23.906] [info] Controller state will be published at 50 Hz. ×2 + 5.69sINFOros2_control_node[2026-09-04 03:02:23.912] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 6.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 6.05sINFOros2-6process has finished cleanly [pid 7374] ×2 + 6.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 6.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 6.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.38sINFOros2-5process has finished cleanly [pid 7373] ×2 + 6.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.40sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 6.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.47sINFOobjective_server_nodecaller: ×10 + 6.47sINFOobjective_server_nodetype: 0 ×10 + 6.47sINFOobjective_server_nodename: "" ×10 + 6.47sINFOobjective_server_nodeinstance_id: "" ×10 + 6.47sINFOobjective_server_node ×10 + 6.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 6.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.75sINFOros2-3process has finished cleanly [pid 7360] ×2 + 6.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 6.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 6.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.82sINFOforce_torque_sensor_broadcasterconfigure successful + 6.82sINFOros2_control_nodeconfigure successful[0m ×2 + 6.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.83sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.23sINFOros2-2process has finished cleanly [pid 7359] ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 8.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 8.32sWARNros2_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 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 8.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 9.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 10.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 370 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7360] ×2 + 0.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOforce_torque_sensor_broadcasterconfigure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.32sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.32sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.32sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.32sINFOobjective_server_nodecaller: ×12 + 0.32sINFOobjective_server_nodetype: 0 ×12 + 0.32sINFOobjective_server_nodename: "" ×12 + 0.32sINFOobjective_server_nodeinstance_id: "" ×12 + 0.32sINFOobjective_server_node ×12 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sINFOros2-2process has finished cleanly [pid 7359] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.57sWARNros2_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 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 4.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 7.45sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 487 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_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 7374] ×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! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-5process has finished cleanly [pid 7373] ×2 + 0.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.40sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 0.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[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 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 7360] ×2 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOforce_torque_sensor_broadcasterconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.83sINFOros2[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 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sINFOros2-2process has finished cleanly [pid 7359] ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 2.32sWARNros2_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 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 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: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 362 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7360] ×2 + 0.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOforce_torque_sensor_broadcasterconfigure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.32sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.32sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.32sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.32sINFOobjective_server_nodecaller: ×12 + 0.32sINFOobjective_server_nodetype: 0 ×12 + 0.32sINFOobjective_server_nodename: "" ×12 + 0.32sINFOobjective_server_nodeinstance_id: "" ×12 + 0.32sINFOobjective_server_node ×12 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-2process has finished cleanly [pid 7359] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.57sWARNros2_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 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 4.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 522 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2-4process has finished cleanly [pid 7372] ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.905] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.906] [info] Controller state will be published at 50 Hz. ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.912] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 7374] ×2 + 0.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-5process has finished cleanly [pid 7373] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.03sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.03sINFOobjective_server_nodecaller: ×14 + 1.03sINFOobjective_server_nodetype: 0 ×14 + 1.03sINFOobjective_server_nodename: "" ×14 + 1.03sINFOobjective_server_nodeinstance_id: "" ×14 + 1.03sINFOobjective_server_node ×14 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 1.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7360] ×2 + 1.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.32sINFOros2_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_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sINFOros2-2process has finished cleanly [pid 7359] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 2.88sWARNros2_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 184 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/2026-09-04-03-02-17-836331-9a3e0cbf418c-7310 ×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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086263 ms (missed cycles : 3). + 0.85sINFOros2_control_node-1process started with pid [7358] ×2 + 0.85sINFOmove_group-9process started with pid [7399] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7400] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7401] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7402] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7403] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7404] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7405] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7406] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7407] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7408] ×2 + 0.85sINFOweb_bridge-19process started with pid [7409] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7485] ×2 + 0.85sINFOvideo_server-21process started with pid [7486] ×2 + 0.85sINFOweb_bridge_auth_proxy-22process started with pid [7487] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7488] ×2 + 0.85sINFOros2-2process started with pid [7359] ×2 + 0.85sINFOros2-3process started with pid [7360] ×2 + 0.85sINFOros2-4process started with pid [7372] ×2 + 0.85sINFOros2-5process started with pid [7373] ×2 + 0.85sINFOros2-6process started with pid [7374] ×2 + 0.85sINFOros2-7process started with pid [7375] ×2 + 0.85sINFOros2-8process started with pid [7376] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086263 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF configuration loaded from /tmp/moveit-webrtc-fkn69yp0/mediamtx.yml ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.18sINFOvideo_server2026/09/04 03:02:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 03:02:19.945] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOmove_group ×4 + 2.12sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.15sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.15sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.16sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.17sINFOros2_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 + 2.17sINFOros2_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 + 2.23sINFOwaypoint_manager_node[2026-09-04 03:02:20.445] [moveit_pro_license] [info] ×2 + 2.23sINFOwaypoint_manager_node************************************************* ×4 + 2.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.016036 ms (missed cycles : 7). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.016036 ms (missed cycles : 7).[0m ×2 + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOobjective_server_node[2026-09-04 03:02:21.323] [moveit_pro_license] [info] ×2 + 3.11sINFOobjective_server_node************************************************* ×4 + 3.11sINFOobjective_server_node* MoveIt Pro License ×2 + 3.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.24sINFOobjective_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 + 3.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.25sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.25sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.25sINFOobjective_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 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.53sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 522 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2-4process has finished cleanly [pid 7372] ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.905] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.906] [info] Controller state will be published at 50 Hz. ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.912] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 7374] ×2 + 0.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-5process has finished cleanly [pid 7373] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.03sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.03sINFOobjective_server_nodecaller: ×14 + 1.03sINFOobjective_server_nodetype: 0 ×14 + 1.03sINFOobjective_server_nodename: "" ×14 + 1.03sINFOobjective_server_nodeinstance_id: "" ×14 + 1.03sINFOobjective_server_node ×14 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 1.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7360] ×2 + 1.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.32sINFOros2_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_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sINFOros2-2process has finished cleanly [pid 7359] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 2.88sWARNros2_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 522 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2-4process has finished cleanly [pid 7372] ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.22sINFOros2_control_node[2026-09-04 03:02:23.883] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.905] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.906] [info] Controller state will be published at 50 Hz. ×2 + 0.25sINFOros2_control_node[2026-09-04 03:02:23.912] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 7374] ×2 + 0.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-5process has finished cleanly [pid 7373] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.03sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.03sINFOobjective_server_nodecaller: ×14 + 1.03sINFOobjective_server_nodetype: 0 ×14 + 1.03sINFOobjective_server_nodename: "" ×14 + 1.03sINFOobjective_server_nodeinstance_id: "" ×14 + 1.03sINFOobjective_server_node ×14 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 1.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7360] ×2 + 1.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.32sINFOros2_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_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sINFOros2-2process has finished cleanly [pid 7359] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 2.88sWARNros2_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 487 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_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 7374] ×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! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-5process has finished cleanly [pid 7373] ×2 + 0.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.40sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843015 ms (missed cycles : 3).[0m ×2 + 0.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[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 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490944.74243712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490944.75267315 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 7360] ×2 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7yiy3omj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ka0kh4bo --params-file /tmp/launch_params_j6xjqufw [0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOforce_torque_sensor_broadcasterconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.83sINFOros2[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 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788490945.33844399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sINFOros2-2process has finished cleanly [pid 7359] ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 2.32sWARNros2_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 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 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: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-09-04 03:02:32.605] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-09-04 03:02:32.605] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699648 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699648 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 · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518390 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788490946.44863963 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322461 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788490947.05876517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788490947.11895251 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490947.77573276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490947.79586411 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968076 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490948.50054145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490948.65106297 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260266 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490949.29836321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490949.33848453 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788490949.95100284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584159 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.1028e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.090] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 03:02:30.091] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985402 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878123 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||