122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746839 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746839 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602468 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602468 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037501 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037501 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788492029.38866091 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788492030.00142026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.10sINFOros2_control_node[2026-09-04 03:20:30.175] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-09-04 03:20:30.175] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722291 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722291 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302188 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302188 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.39sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158799 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158799 ms (missed cycles : 2).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477103 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477103 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×3146 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×3146 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×6292 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×6292 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495396 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495396 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945026 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945026 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622618 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622618 ms (missed cycles : 4).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036719 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036719 ms (missed cycles : 2).[0m ×2 + 11.45sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.45sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.45sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637051 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637051 ms (missed cycles : 4).[0m ×2 + 12.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880726 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880726 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833475 ms (missed cycles : 5). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833475 ms (missed cycles : 5).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089668 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089668 ms (missed cycles : 2).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151244 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151244 ms (missed cycles : 2).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210432 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210432 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121571 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121571 ms (missed cycles : 2).[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715676 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715676 ms (missed cycles : 2).[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844457 ms (missed cycles : 2). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844457 ms (missed cycles : 2).[0m ×2 + 20.32sWARNros2_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 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409172 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409172 ms (missed cycles : 2).[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665239 ms (missed cycles : 4). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665239 ms (missed cycles : 4).[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038948 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038948 ms (missed cycles : 2).[0m ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699245 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699245 ms (missed cycles : 2).[0m ×2 + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730804 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730804 ms (missed cycles : 2).[0m ×2 + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178032 ms (missed cycles : 2). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178032 ms (missed cycles : 2).[0m ×2 + 27.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440468 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440468 ms (missed cycles : 2).[0m ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086029 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086029 ms (missed cycles : 2).[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084078 ms (missed cycles : 2). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084078 ms (missed cycles : 2).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627987 ms (missed cycles : 4). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627987 ms (missed cycles : 4).[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996593 ms (missed cycles : 2). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996593 ms (missed cycles : 2).[0m ×2 + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874637 ms (missed cycles : 3). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874637 ms (missed cycles : 3).[0m ×2 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099199 ms (missed cycles : 4). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099199 ms (missed cycles : 4).[0m ×2 + 34.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018994 ms (missed cycles : 4). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018994 ms (missed cycles : 4).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875459 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875459 ms (missed cycles : 2).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873353 ms (missed cycles : 2). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873353 ms (missed cycles : 2).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675675 ms (missed cycles : 2). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675675 ms (missed cycles : 2).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783502 ms (missed cycles : 3). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783502 ms (missed cycles : 3).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241639 ms (missed cycles : 4). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241639 ms (missed cycles : 4).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830928 ms (missed cycles : 2). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830928 ms (missed cycles : 2).[0m ×2 + 41.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051129 ms (missed cycles : 2). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051129 ms (missed cycles : 2).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803744 ms (missed cycles : 2). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803744 ms (missed cycles : 2).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478459 ms (missed cycles : 4). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478459 ms (missed cycles : 4).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703980 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703980 ms (missed cycles : 2).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241103 ms (missed cycles : 2). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241103 ms (missed cycles : 2).[0m ×2 + 46.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492073.83333850 seconds ×3 + 46.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949254 ms (missed cycles : 2). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949254 ms (missed cycles : 2).[0m ×2 + 47.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.30sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 47.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788492074.45757294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.56sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 47.57sINFOros2_control_node[2026-09-04 03:21:14.641] [info] Received new action goal ×2 + 47.57sINFOros2_control_node[2026-09-04 03:21:14.641] [info] Accepted new action goal ×2 + 47.60sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905079 ms (missed cycles : 3). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905079 ms (missed cycles : 3).[0m ×2 + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528209 ms (missed cycles : 2). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528209 ms (missed cycles : 2).[0m ×2 + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162174 ms (missed cycles : 2). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162174 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.946485 ms (missed cycles : 7). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.946485 ms (missed cycles : 7).[0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 7.09sINFOros2_control_node[2026-09-04 03:19:39.341] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-04 03:19:39.341] [info] Accepted new action goal ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949949 ms (missed cycles : 3). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949949 ms (missed cycles : 3).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161420 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161420 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292549 ms (missed cycles : 5). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292549 ms (missed cycles : 5).[0m ×2 + 10.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.41sINFOros2_control_node[2026-09-04 03:19:42.670] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-09-04 03:19:42.670] [info] Accepted new action goal ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724300 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724300 ms (missed cycles : 3).[0m ×2 + 11.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958265 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958265 ms (missed cycles : 3).[0m ×2 + 13.38sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.43sINFOros2_control_node[2026-09-04 03:19:45.684] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-09-04 03:19:45.684] [info] Accepted new action goal ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304368 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304368 ms (missed cycles : 4).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259393 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259393 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.327471 ms (missed cycles : 7). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.327471 ms (missed cycles : 7).[0m ×2 + 16.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.38sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246627 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246627 ms (missed cycles : 3).[0m ×2 + 17.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269733 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269733 ms (missed cycles : 3).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643764 ms (missed cycles : 5). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643764 ms (missed cycles : 5).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596921 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596921 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623693 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623693 ms (missed cycles : 3).[0m ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772194 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772194 ms (missed cycles : 2).[0m ×2 + 23.14sINFOobjective_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 + 23.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.14sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.329378 ms (missed cycles : 5). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.329378 ms (missed cycles : 5).[0m ×2 + 23.83sWARNros2_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 + 24.07sINFOros2_control_node[2026-09-04 03:19:56.330] [info] Received new action goal ×2 + 24.07sINFOros2_control_node[2026-09-04 03:19:56.330] [info] Accepted new action goal ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349314 ms (missed cycles : 4). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349314 ms (missed cycles : 4).[0m ×2 + 25.24sINFOobjective_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 + 25.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.52sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 25.53sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.57sINFOros2_control_node[2026-09-04 03:19:57.824] [info] Received new action goal ×2 + 25.57sINFOros2_control_node[2026-09-04 03:19:57.824] [info] Accepted new action goal ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267419 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267419 ms (missed cycles : 2).[0m ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716775 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716775 ms (missed cycles : 3).[0m ×2 + 27.69sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 27.70sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.71sINFOros2_control_node[2026-09-04 03:19:59.961] [info] Received new action goal ×2 + 27.71sINFOros2_control_node[2026-09-04 03:19:59.961] [info] Accepted new action goal ×2 + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816413 ms (missed cycles : 2). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816413 ms (missed cycles : 2).[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244542 ms (missed cycles : 2). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244542 ms (missed cycles : 2).[0m ×2 + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474384 ms (missed cycles : 5). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474384 ms (missed cycles : 5).[0m ×2 + 30.83sINFOros2_control_node[2026-09-04 03:20:03.091] [info] Received new action goal ×2 + 30.84sINFOros2_control_node[2026-09-04 03:20:03.091] [info] Accepted new action goal ×2 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396386 ms (missed cycles : 2). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396386 ms (missed cycles : 2).[0m ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033335 ms (missed cycles : 2). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033335 ms (missed cycles : 2).[0m ×2 + 33.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 33.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.48sINFOros2_control_node[2026-09-04 03:20:05.734] [info] Received new action goal ×2 + 33.48sINFOros2_control_node[2026-09-04 03:20:05.734] [info] Accepted new action goal ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378192 ms (missed cycles : 4). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378192 ms (missed cycles : 4).[0m ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212295 ms (missed cycles : 6). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212295 ms (missed cycles : 6).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820975 ms (missed cycles : 4). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820975 ms (missed cycles : 4).[0m ×2 + 36.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462225 ms (missed cycles : 6). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462225 ms (missed cycles : 6).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414206 ms (missed cycles : 5). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414206 ms (missed cycles : 5).[0m ×2 + 38.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265258 ms (missed cycles : 5). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265258 ms (missed cycles : 5).[0m ×2 + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101299 ms (missed cycles : 5). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101299 ms (missed cycles : 5).[0m ×2 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960755 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960755 ms (missed cycles : 2).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198503 ms (missed cycles : 4). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198503 ms (missed cycles : 4).[0m ×2 + 42.42sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.858237 ms (missed cycles : 7). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.858237 ms (missed cycles : 7).[0m ×2 + 44.18sINFOros2_control_node[2026-09-04 03:20:16.441] [info] Received new action goal ×2 + 44.18sINFOros2_control_node[2026-09-04 03:20:16.441] [info] Accepted new action goal ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689094 ms (missed cycles : 4). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689094 ms (missed cycles : 4).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462419 ms (missed cycles : 3). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462419 ms (missed cycles : 3).[0m ×2 + 45.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788492017.59702063 seconds ×3 + 45.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.93sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.13sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788492018.38850284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289394 ms (missed cycles : 2). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289394 ms (missed cycles : 2).[0m ×2 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759116 ms (missed cycles : 4). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759116 ms (missed cycles : 4).[0m ×2 + 47.35sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 47.37sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.39sINFOros2_control_node[2026-09-04 03:20:19.643] [info] Received new action goal ×2 + 47.39sINFOros2_control_node[2026-09-04 03:20:19.643] [info] Accepted new action goal ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186444 ms (missed cycles : 4). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186444 ms (missed cycles : 4).[0m ×2 + 48.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 89 warnings · 13206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2168 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2168 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4336 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4336 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478459 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478459 ms (missed cycles : 4).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703980 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703980 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241103 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241103 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492073.83333850 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949254 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949254 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788492074.45757294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.08sINFOros2_control_node[2026-09-04 03:21:14.641] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 03:21:14.641] [info] Accepted new action goal ×2 + 4.11sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905079 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905079 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_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 + 5.40sINFOobjective_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 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_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 2.528209 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528209 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162174 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162174 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756855 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756855 ms (missed cycles : 2).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779994 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779994 ms (missed cycles : 2).[0m ×2 + 8.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.61 s); wrist_camera (1.61 s). The render path has stopped producing new frames for them.[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779564 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779564 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681000 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681000 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716767 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716767 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183771 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183771 ms (missed cycles : 2).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759827 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759827 ms (missed cycles : 2).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564195 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564195 ms (missed cycles : 2).[0m ×2 + 15.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096460 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096460 ms (missed cycles : 2).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990056 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990056 ms (missed cycles : 2).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098041 ms (missed cycles : 4). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098041 ms (missed cycles : 4).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857528 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857528 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705619 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705619 ms (missed cycles : 2).[0m ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807636 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807636 ms (missed cycles : 2).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 22.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 25.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 26.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.03sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 26.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.34sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641890 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641890 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.70sINFOobjective_server_nodeFound path in 1 iterations (0.00317862 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.94sINFOros2_control_node[2026-09-04 03:19:16.726] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 03:19:16.726] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569974 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569974 ms (missed cycles : 3).[0m ×2 + 1.34sINFOros2_control_node[2026-09-04 03:19:17.127] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-04 03:19:17.127] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737624 ms (missed cycles : 8). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737624 ms (missed cycles : 8).[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sINFOobjective_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 + 3.10sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.10sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_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: 1788491958.93311048 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559114 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559114 ms (missed cycles : 2).[0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788491959.71234632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 03:19:19.896] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 03:19:19.896] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879925 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879925 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162796 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162796 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572962 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572962 ms (missed cycles : 3).[0m ×2 + 6.64sINFOros2_control_node[2026-09-04 03:19:22.426] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-04 03:19:22.426] [info] Accepted new action goal ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.194348 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.194348 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802248 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802248 ms (missed cycles : 4).[0m ×2 + 9.44sWARNros2_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 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407482 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407482 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789049 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789049 ms (missed cycles : 3).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437556 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437556 ms (missed cycles : 2).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491970.99776483 seconds ×3 + 15.49sWARNros2_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 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.82sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491971.65622139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.93sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491971.71635580 seconds ×3 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5).[0m ×2 + 16.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.47sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.63sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 16.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.64sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 16.64sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 18.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 62 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198503 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198503 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_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 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.98sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.98sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.98sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.858237 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.858237 ms (missed cycles : 7).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 03:20:16.441] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 03:20:16.441] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689094 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689094 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462419 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462419 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788492017.59702063 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788492018.38850284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289394 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289394 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759116 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759116 ms (missed cycles : 4).[0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.12sINFOros2_control_node[2026-09-04 03:20:19.643] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-04 03:20:19.643] [info] Accepted new action goal ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186444 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186444 ms (missed cycles : 4).[0m ×2 + 6.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584618 ms (missed cycles : 5). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584618 ms (missed cycles : 5).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810364 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810364 ms (missed cycles : 2).[0m ×2 + 8.81sINFOobjective_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 + 8.81sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806871 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806871 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796997 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796997 ms (missed cycles : 3).[0m ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.26sINFOros2_control_node[2026-09-04 03:20:25.783] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-09-04 03:20:25.783] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.781394 ms (missed cycles : 7). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.781394 ms (missed cycles : 7).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746839 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746839 ms (missed cycles : 2).[0m ×2 + 12.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602468 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602468 ms (missed cycles : 3).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037501 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037501 ms (missed cycles : 3).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788492029.38866091 seconds ×3 + 15.41sINFOobjective_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: ""
+ 15.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788492030.00142026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 15.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.65sINFOros2_control_node[2026-09-04 03:20:30.175] [info] Received new action goal ×2 + 15.65sINFOros2_control_node[2026-09-04 03:20:30.175] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722291 ms (missed cycles : 4). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722291 ms (missed cycles : 4).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302188 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302188 ms (missed cycles : 2).[0m ×2 + 16.93sINFOobjective_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 + 16.94sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158799 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158799 ms (missed cycles : 2).[0m ×2 + 17.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.2s | 6 errors · 54 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529564 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529564 ms (missed cycles : 5).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083076 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083076 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.33sINFOros2_control_node[2026-09-04 03:18:21.751] [info] Received new action goal ×2 + 1.33sINFOros2_control_node[2026-09-04 03:18:21.751] [info] Accepted new action goal ×2 + 1.97sINFOobjective_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 + 1.98sINFOros2_control_node[2026-09-04 03:18:22.397] [info] Got request to cancel active goal. ×2 + 1.98sINFOros2_control_node[2026-09-04 03:18:22.397] [info] Canceling active goal... ×2 + 1.99sERRORobjective_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: 1788491902.41293693 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552066 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552066 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_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: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×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 + 2.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788491903.01992679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 2.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.80sINFOros2_control_node[2026-09-04 03:18:23.224] [info] Received new action goal ×2 + 2.80sINFOros2_control_node[2026-09-04 03:18:23.224] [info] Accepted new action goal ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582423 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582423 ms (missed cycles : 5).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070987 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070987 ms (missed cycles : 5).[0m ×2 + 4.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.10sINFOros2_control_node[2026-09-04 03:18:25.524] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-04 03:18:25.524] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558945 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558945 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285712 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285712 ms (missed cycles : 5).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656908 ms (missed cycles : 5). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656908 ms (missed cycles : 5).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704269 ms (missed cycles : 4). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704269 ms (missed cycles : 4).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125019 ms (missed cycles : 6). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125019 ms (missed cycles : 6).[0m ×2 + 9.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 12.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 12.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 12.87sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 13.15sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 13.15sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 13.15sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 13.15sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 13.15sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 13.15sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 13.15sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 13.15sINFOobjective_server_nodeFailing stage(s): ×2 + 13.16sERRORobjective_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: 1788491913.57903194 seconds ×3 + 13.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.80sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 14.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.76sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 15.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 60 warnings · 290 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.97sINFOobjective_server_nodecaller: ×8 + 2.97sINFOobjective_server_nodetype: 0 ×8 + 2.97sINFOobjective_server_nodename: "" ×8 + 2.97sINFOobjective_server_nodeinstance_id: "" ×8 + 2.97sINFOobjective_server_node ×8 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122983 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122983 ms (missed cycles : 2).[0m ×2 + 8.15sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992130 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992130 ms (missed cycles : 3).[0m ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 1 iterations (0.00345537 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.79sINFOros2_control_node[2026-09-04 03:18:40.041] [info] Received new action goal ×2 + 8.79sINFOros2_control_node[2026-09-04 03:18:40.041] [info] Accepted new action goal ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448608 ms (missed cycles : 5). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448608 ms (missed cycles : 5).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.646384 ms (missed cycles : 8). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.646384 ms (missed cycles : 8).[0m ×2 + 11.09sINFOros2_control_node[2026-09-04 03:18:42.347] [info] Received new action goal ×2 + 11.10sINFOros2_control_node[2026-09-04 03:18:42.347] [info] Accepted new action goal ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294256 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294256 ms (missed cycles : 2).[0m ×2 + 11.70sWARNros2_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 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.90sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 14.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 14.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.73sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.80sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 15.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 15.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.68sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 15.68sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ 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 1.880384 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880384 ms (missed cycles : 2).[0m ×2 + 0.62sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.89sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.89sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.89sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788491946.05201364 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027036 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027036 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301532 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301532 ms (missed cycles : 2).[0m ×2 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664228 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664228 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788491948.50953484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×4 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.58sINFOros2_control_node[2026-09-04 03:19:08.713] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-04 03:19:08.713] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294635 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294635 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.488330 ms (missed cycles : 8). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.488330 ms (missed cycles : 8).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584058 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584058 ms (missed cycles : 6).[0m ×2 + 7.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138516 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138516 ms (missed cycles : 2).[0m ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 1 iterations (0.00296887 s). ×2 + 8.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 2 iterations (0.00648398 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 1 iterations (0.00348561 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485756 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485756 ms (missed cycles : 3).[0m ×2 + 8.69sINFOros2_control_node[2026-09-04 03:19:13.816] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-09-04 03:19:13.816] [info] Accepted new action goal ×2 + 9.55sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580202 ms (missed cycles : 5). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580202 ms (missed cycles : 5).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641890 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641890 ms (missed cycles : 3).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.36sINFOobjective_server_nodeFound path in 1 iterations (0.00317862 s). ×2 + 11.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.60sINFOros2_control_node[2026-09-04 03:19:16.726] [info] Received new action goal ×2 + 11.60sINFOros2_control_node[2026-09-04 03:19:16.726] [info] Accepted new action goal ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569974 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569974 ms (missed cycles : 3).[0m ×2 + 12.00sINFOros2_control_node[2026-09-04 03:19:17.127] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-09-04 03:19:17.127] [info] Accepted new action goal ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737624 ms (missed cycles : 8). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737624 ms (missed cycles : 8).[0m ×2 + 13.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.76sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.76sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.76sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.76sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788491958.93311048 seconds ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559114 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559114 ms (missed cycles : 2).[0m ×2 + 14.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788491959.71234632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 14.77sINFOros2_control_node[2026-09-04 03:19:19.896] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-09-04 03:19:19.896] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879925 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879925 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162796 ms (missed cycles : 4). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162796 ms (missed cycles : 4).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572962 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572962 ms (missed cycles : 3).[0m ×2 + 17.30sINFOros2_control_node[2026-09-04 03:19:22.426] [info] Received new action goal ×2 + 17.30sINFOros2_control_node[2026-09-04 03:19:22.426] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 57 errors · 37 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 0.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 0.59sERRORobjective_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: 1788492151.48438525 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2).[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788492155.77119327 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350586 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350586 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781172 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781172 ms (missed cycles : 4).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255217 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255217 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260636 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260636 ms (missed cycles : 2).[0m ×2 + 10.50sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.51sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_video_auth_proxy-23process has died [pid 7477, 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 + 10.51sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.52sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORweb_bridge_auth_proxy-22process has died [pid 7476, 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 + 10.52sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.52sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.52sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.53sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.53sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.53sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.54sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.54sINFOvideo_server-21process has finished cleanly [pid 7474] ×2 + 10.54sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.55sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.55sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.56sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.56sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.57sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.57sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.57sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.58sINFOcontroller_managerShutdown request received.... + 10.58sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.58sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.58sINFOvideo_server2026/09/04 03:22:41 INF shutting down gracefully ×2 + 10.58sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.58sINFOvideo_server2026/09/04 03:22:41 INF [WebRTC] closing ×2 + 10.58sINFOvideo_server2026/09/04 03:22:41 INF [RTSP] closing ×2 + 10.58sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.58sINFOvideo_server2026/09/04 03:22:41 INF waiting for running hooks ×2 + 10.58sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.58sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.58sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.58sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.58sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.58sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.58sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.58sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOcontroller_managerShutting down the controller manager. + 10.58sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.58sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.58sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.58sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.58sERRORmove_groupStack trace (most recent call last) in thread 7825: ×2 + 10.58sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.58sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.58sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.58sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.58sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.58sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.58sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.58sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.58sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9de9348a63, in __clone ×2 + 10.58sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9de92bbaa3, in ×2 + 10.59sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9de954ddb3, in ×2 + 10.59sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f9de9cb2a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.59sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9de98df620, in rclcpp::Rate::sleep() ×2 + 10.59sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9de9821d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.59sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9de97e3087, in ×2 + 10.59sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9de951c390, in __cxa_throw ×2 + 10.59sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9de9506a54, in std::terminate() ×2 + 10.59sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9de951c0d9, in ×2 + 10.59sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9de9506ff4, in ×2 + 10.59sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9de92478fe, in abort ×2 + 10.59sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.59sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.59sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9de926427d, in raise ×2 + 10.59sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9de92bdb2c, in pthread_kill ×2 + 10.59sERRORmove_groupAborted (Signal sent by tkill() 7389 0) ×2 + 10.59sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.60sERRORmove_group-9process has died [pid 7389, 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_byqjzpu6 --params-file /tmp/launch_params_fyr7t8em --params-file /tmp/launch_params_zqlbc811 --params-file /tmp/launch_params_kaloxg5m --params-file /tmp/launch_params_pfbomffq --params-file /tmp/launch_params_mqc7dhm1']. ×2 + 11.58sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7473] ×2 + 11.58sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.60sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7393] ×2 + 11.60sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7392] ×2 + 11.64sINFOexecute_objective_bridge-17process has finished cleanly [pid 7397] ×2 + 11.64sINFOcomponent_container_mt-16process has finished cleanly [pid 7396] ×2 + 11.64sINFOui_teleop_bridge-18process has finished cleanly [pid 7398] ×2 + 11.65sINFOparameter_manager_node-10process has finished cleanly [pid 7390] ×2 + 11.65sINFOwaypoint_manager_node-11process has finished cleanly [pid 7391] ×2 + 11.74sINFOobjective_server_node[0;m[2026-09-04 03:22:42.629] [moveit_pro_license] [info] ×2 + 11.74sINFOobjective_server_node************************************************* ×4 + 11.74sINFOobjective_server_node* MoveIt Pro License ×2 + 11.74sINFOobjective_server_node* Application has successfully terminated ×2 + 11.87sINFOobjective_server_node_main-14process has finished cleanly [pid 7394] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.73sINFOcomponent_container_mt-15process has finished cleanly [pid 7395] ×2 + 13.00sINFOweb_bridge-19process has finished cleanly [pid 7399] ×2 + 13.00sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.02sINFOros2_control_node-1process has finished cleanly [pid 7348] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.68sINFOobjective_server_nodecaller: ×12 + 0.68sINFOobjective_server_nodetype: 0 ×12 + 0.68sINFOobjective_server_nodename: "" ×12 + 0.68sINFOobjective_server_nodeinstance_id: "" ×12 + 0.68sINFOobjective_server_node ×12 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[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 (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689469 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689469 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659642 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659642 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871679 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871679 ms (missed cycles : 3).[0m ×2 + 8.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934159 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934159 ms (missed cycles : 2).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 9.96sINFOros2_control_node[2026-09-04 03:18:18.420] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-09-04 03:18:18.420] [info] Accepted new action goal ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269620 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269620 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529564 ms (missed cycles : 5). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529564 ms (missed cycles : 5).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083076 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083076 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.29sINFOros2_control_node[2026-09-04 03:18:21.751] [info] Received new action goal ×2 + 13.29sINFOros2_control_node[2026-09-04 03:18:21.751] [info] Accepted new action goal ×2 + 13.92sINFOobjective_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 + 13.93sINFOros2_control_node[2026-09-04 03:18:22.397] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-09-04 03:18:22.397] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1788491902.41293693 seconds ×3 + 13.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552066 ms (missed cycles : 4). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552066 ms (missed cycles : 4).[0m ×2 + 14.49sINFOobjective_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: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788491903.01992679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 14.76sINFOros2_control_node[2026-09-04 03:18:23.224] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-04 03:18:23.224] [info] Accepted new action goal ×2 + 14.91sWARNros2_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 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582423 ms (missed cycles : 5). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582423 ms (missed cycles : 5).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070987 ms (missed cycles : 5). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070987 ms (missed cycles : 5).[0m ×2 + 17.04sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 17.04sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.06sINFOros2_control_node[2026-09-04 03:18:25.524] [info] Received new action goal ×2 + 17.06sINFOros2_control_node[2026-09-04 03:18:25.524] [info] Accepted new action goal ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558945 ms (missed cycles : 4). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558945 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152157 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912200 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912200 ms (missed cycles : 5).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179608 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179608 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217646 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217646 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788492128.41045165 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.72sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.72sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.79sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788492129.06738496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 03:22:09.241] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 03:22:09.241] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412428 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412428 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974791 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974791 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907547 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907547 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219995 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219995 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249333 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249333 ms (missed cycles : 3).[0m ×2 + 9.40sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485045 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485045 ms (missed cycles : 4).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105598 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105598 ms (missed cycles : 4).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 12.98sWARNros2_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 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[0m ×2 + 14.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788492139.39772654 seconds ×3 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 15.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_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 + 15.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 16.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.00sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.06sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.18sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 16.18sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.19sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 16.19sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713081 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713081 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026058 ms (missed cycles : 4). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026058 ms (missed cycles : 4).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023877 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023877 ms (missed cycles : 5).[0m ×2 + 9.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798192 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798192 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579644 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579644 ms (missed cycles : 4).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000357 ms (missed cycles : 6). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000357 ms (missed cycles : 6).[0m ×2 + 13.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.78sERRORobjective_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: 1788492117.89538026 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013787 ms (missed cycles : 5). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013787 ms (missed cycles : 5).[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788492118.49457836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 14.69sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.70sINFOros2_control_node[2026-09-04 03:21:58.810] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-04 03:21:58.810] [info] Accepted new action goal ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019589 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019589 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060411 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060411 ms (missed cycles : 2).[0m ×2 + 16.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440109 ms (missed cycles : 5). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440109 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 54 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 + 6.68sWARNros2_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 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863655 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863655 ms (missed cycles : 5).[0m ×2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×4 + 8.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 1 iterations (0.0033461 s). ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870399 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870399 ms (missed cycles : 2).[0m ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 2 iterations (0.00510527 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.00355656 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.18sINFOros2_control_node[2026-09-04 03:19:03.497] [info] Received new action goal ×2 + 9.18sINFOros2_control_node[2026-09-04 03:19:03.497] [info] Accepted new action goal ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835738 ms (missed cycles : 7). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835738 ms (missed cycles : 7).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880384 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880384 ms (missed cycles : 2).[0m ×2 + 11.43sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.70sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.70sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.70sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788491946.05201364 seconds ×3 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027036 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027036 ms (missed cycles : 2).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301532 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301532 ms (missed cycles : 2).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664228 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664228 ms (missed cycles : 4).[0m ×2 + 14.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.19sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788491948.50953484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 14.40sINFOros2_control_node[2026-09-04 03:19:08.713] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-09-04 03:19:08.713] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294635 ms (missed cycles : 4). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294635 ms (missed cycles : 4).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.488330 ms (missed cycles : 8). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.488330 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2202 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049859 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049859 ms (missed cycles : 4).[0m ×2 + 7.60sWARNros2_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 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.65sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 1 iterations (0.00311308 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049413 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049413 ms (missed cycles : 3).[0m ×2 + 8.25sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.27sINFOros2_control_node[2026-09-04 03:21:40.967] [info] Received new action goal ×2 + 8.27sINFOros2_control_node[2026-09-04 03:21:40.967] [info] Accepted new action goal ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173654 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173654 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918169 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918169 ms (missed cycles : 2).[0m ×2 + 10.57sINFOros2_control_node[2026-09-04 03:21:43.269] [info] Received new action goal ×2 + 10.57sINFOros2_control_node[2026-09-04 03:21:43.269] [info] Accepted new action goal ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 12.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.38sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 12.38sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 13.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 14.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.35sWARNros2_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 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 15.04sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 16.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 52 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.35sINFOobjective_server_nodecaller: ×6 + 2.35sINFOobjective_server_nodetype: 0 ×6 + 2.35sINFOobjective_server_nodename: "" ×6 + 2.35sINFOobjective_server_nodeinstance_id: "" ×6 + 2.35sINFOobjective_server_node ×6 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 4.70sWARNros2_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 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881184 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881184 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.65sINFOros2_control_node[2026-09-04 03:18:50.283] [info] Received new action goal ×2 + 6.65sINFOros2_control_node[2026-09-04 03:18:50.283] [info] Accepted new action goal ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933501 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933501 ms (missed cycles : 3).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625935 ms (missed cycles : 4). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625935 ms (missed cycles : 4).[0m ×2 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 8.99sINFOros2_control_node[2026-09-04 03:18:52.620] [info] Received new action goal ×2 + 8.99sINFOros2_control_node[2026-09-04 03:18:52.620] [info] Accepted new action goal ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597109 ms (missed cycles : 4). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597109 ms (missed cycles : 4).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 11.33sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 11.34sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.36sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 13.36sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 13.37sERRORobjective_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: 1788491937.00186229 seconds ×3 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 13.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.19sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.27sERRORobjective_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: 1788492139.39772654 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.86sINFOobjective_server_nodecaller: ×14 + 1.86sINFOobjective_server_nodetype: 0 ×14 + 1.86sINFOobjective_server_nodename: "" ×14 + 1.86sINFOobjective_server_nodeinstance_id: "" ×14 + 1.86sINFOobjective_server_node ×14 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040607 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040607 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.64sINFOros2_control_node[2026-09-04 03:22:24.773] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-04 03:22:24.773] [info] Accepted new action goal ×2 + 6.64sINFOros2_control_node[2026-09-04 03:22:24.773] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946459 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946459 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937758 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937758 ms (missed cycles : 5).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917513 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917513 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235332 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235332 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2).[0m ×2 + 12.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 13.35sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 13.35sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 13.35sERRORobjective_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: 1788492151.48438525 seconds ×3 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 13.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 15.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.08sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 15.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 16.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 55 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798192 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798192 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579644 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579644 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000357 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000357 ms (missed cycles : 6).[0m ×2 + 3.12sINFOobjective_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 + 3.13sERRORobjective_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: 1788492117.89538026 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013787 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013787 ms (missed cycles : 5).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788492118.49457836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 03:21:58.810] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 03:21:58.810] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019589 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019589 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060411 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060411 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440109 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440109 ms (missed cycles : 5).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101851 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101851 ms (missed cycles : 2).[0m ×2 + 8.06sINFOros2_control_node[2026-09-04 03:22:02.825] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-04 03:22:02.825] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745075 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745075 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330544 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330544 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152157 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152157 ms (missed cycles : 2).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912200 ms (missed cycles : 5). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912200 ms (missed cycles : 5).[0m ×2 + 12.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179608 ms (missed cycles : 5). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179608 ms (missed cycles : 5).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217646 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217646 ms (missed cycles : 4).[0m ×2 + 13.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788492128.41045165 seconds ×3 + 14.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.30sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788492129.06738496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 14.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.47sINFOros2_control_node[2026-09-04 03:22:09.241] [info] Received new action goal ×2 + 14.47sINFOros2_control_node[2026-09-04 03:22:09.241] [info] Accepted new action goal ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412428 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412428 ms (missed cycles : 2).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974791 ms (missed cycles : 3). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974791 ms (missed cycles : 3).[0m ×2 + 16.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907547 ms (missed cycles : 4). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907547 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491970.99776483 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491971.65622139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491971.71635580 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.49sINFOobjective_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 + 7.49sINFOobjective_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 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.81sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 7.81sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 9.37sWARNros2_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 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 33 warnings · 693 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.26sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.26sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.65sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.65sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.66sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.66sWARNros2_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 + 0.66sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.66sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.66sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.66sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.66sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.66sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.66sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.66sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.66sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.66sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.66sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.66sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.66sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.66sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.66sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.66sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.76sWARNobjective_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 + 0.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOforce_torque_sensor_broadcasterconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.84sINFOcomponent_container_mt[2026-09-04 03:18:04.831] [moveit_pro_license] [info] ×2 + 0.84sINFOcomponent_container_mt************************************************* ×4 + 0.84sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.10sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.10sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.16sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2-2process has finished cleanly [pid 7349] ×2 + 1.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.17sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.18sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.18sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.19sINFOros2_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 + 1.19sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.19sWARNros2_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 + 1.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.48sINFOros2-5process has finished cleanly [pid 7363] ×2 + 1.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440373 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440373 ms (missed cycles : 3).[0m ×2 + 1.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.86sINFOros2-3process has finished cleanly [pid 7350] ×2 + 1.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 2.01sINFOros2_control_node[2026-09-04 03:18:06.002] [info] Controller state will be published at 10 Hz. ×2 + 2.01sINFOros2_control_node[2026-09-04 03:18:06.003] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.29sINFOros2-7process has finished cleanly [pid 7365] ×2 + 2.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 2.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 2.37sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.37sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.37sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.37sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.40sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.40sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 2.40sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.73sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 2.73sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 2.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.75sINFOros2-6process has finished cleanly [pid 7364] ×2 + 2.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.76sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.81sINFOobjective_server_nodecaller: ×14 + 2.81sINFOobjective_server_nodetype: 0 ×14 + 2.81sINFOobjective_server_nodename: "" ×14 + 2.81sINFOobjective_server_nodeinstance_id: "" ×14 + 2.81sINFOobjective_server_node ×14 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 3.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.11sINFOros2-4process has finished cleanly [pid 7362] ×2 + 3.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 3.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 3.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.18sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.18sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.21sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 3.21sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.55sINFOros2-8process has finished cleanly [pid 7366] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 4.72sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 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: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 7.23sWARNros2_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 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.30sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 7.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.94sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.01sINFOobjective_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 + 8.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.12sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235332 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235332 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 2.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788492151.48438525 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.27sINFOobjective_server_nodecaller: ×8 + 3.27sINFOobjective_server_nodetype: 0 ×8 + 3.27sINFOobjective_server_nodename: "" ×8 + 3.27sINFOobjective_server_nodeinstance_id: "" ×8 + 3.27sINFOobjective_server_node ×8 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.45sINFOobjective_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 + 4.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2).[0m ×2 + 6.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788492155.77119327 seconds ×3 + 7.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2). | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2).[0m ×2 + 0.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 1.60sINFOobjective_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 + 1.60sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 1.61sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1788492151.48438525 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.15sINFOobjective_server_nodecaller: ×8 + 2.15sINFOobjective_server_nodetype: 0 ×8 + 2.15sINFOobjective_server_nodename: "" ×8 + 2.15sINFOobjective_server_nodeinstance_id: "" ×8 + 2.15sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.34sINFOobjective_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 + 3.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788492155.77119327 seconds ×3 + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350586 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350586 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 1.937624 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491970.99776483 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491971.65622139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491971.71635580 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[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: ``}. ×3 + 2.35sERRORobjective_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: 1788492139.39772654 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 03:18:42.347] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 03:18:42.347] [info] Accepted new action goal ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294256 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294256 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.44sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.59sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7350] ×2 + 0.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.002] [info] Controller state will be published at 10 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.003] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.53sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.53sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.00sINFOobjective_server_nodecaller: ×14 + 1.00sINFOobjective_server_nodetype: 0 ×14 + 1.00sINFOobjective_server_nodename: "" ×14 + 1.00sINFOobjective_server_nodeinstance_id: "" ×14 + 1.00sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.30sINFOros2-4process has finished cleanly [pid 7362] ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7366] ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[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: ``}. ×3 + 2.35sERRORobjective_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: 1788492139.39772654 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2).[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 2.560435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2).[0m ×2 + 0.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 1.60sINFOobjective_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 + 1.60sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 1.61sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1788492151.48438525 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.15sINFOobjective_server_nodecaller: ×8 + 2.15sINFOobjective_server_nodetype: 0 ×8 + 2.15sINFOobjective_server_nodename: "" ×8 + 2.15sINFOobjective_server_nodeinstance_id: "" ×8 + 2.15sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.34sINFOobjective_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 + 3.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719655 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788492155.77119327 seconds ×3 + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751922 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049859 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049859 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961615 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.04sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892814 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.32sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.32sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.32sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.32sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.32sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.32sINFOobjective_server_nodeFailing stage(s): ×2 + 2.33sERRORobjective_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: 1788491913.57903194 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788491914.31140685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788491914.36153817 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459020 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788491914.98049092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 03:18:35.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889344 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216598 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490370 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709106 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-04 03:18:44.154] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760595 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788491925.44065499 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655373 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788491926.05698919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788491926.13711023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788491926.78912902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703544 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 03:18:46.933] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697787 ms (missed cycles : 4).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530008 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 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 |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 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 |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 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 |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753599 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-09-04 03:18:54.970] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099837 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 03:18:56.989] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788491937.00186229 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545874 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788491937.63008571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 03:18:57.824] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406062 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895479 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115863 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641890 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641890 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.70sINFOobjective_server_nodeFound path in 1 iterations (0.00317862 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.94sINFOros2_control_node[2026-09-04 03:19:16.726] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 03:19:16.726] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569974 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569974 ms (missed cycles : 3).[0m ×2 + 1.34sINFOros2_control_node[2026-09-04 03:19:17.127] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-04 03:19:17.127] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737624 ms (missed cycles : 8). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737624 ms (missed cycles : 8).[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sINFOobjective_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 + 3.10sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.10sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_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: 1788491958.93311048 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559114 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559114 ms (missed cycles : 2).[0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788491959.71234632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 03:19:19.896] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 03:19:19.896] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879925 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879925 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162796 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162796 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572962 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572962 ms (missed cycles : 3).[0m ×2 + 6.64sINFOros2_control_node[2026-09-04 03:19:22.426] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-04 03:19:22.426] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937624 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729631 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474685 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788491970.99776483 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788491971.65622139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788491971.71635580 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465137 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788491972.30889559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 03:19:32.432] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589315 ms (missed cycles : 5).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475272 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788491974.43902445 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364412 ms (missed cycles : 8).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981443 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788491976.07682300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 03:19:36.483] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999141 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058424 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746839 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746839 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602468 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602468 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037501 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037501 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788492029.38866091 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788492030.00142026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.10sINFOros2_control_node[2026-09-04 03:20:30.175] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-09-04 03:20:30.175] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722291 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722291 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302188 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302188 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.39sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158799 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158799 ms (missed cycles : 2).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212226 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903701 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952325 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788492095.96944380 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786106 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788492096.67975974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 03:21:36.899] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597837 ms (missed cycles : 6).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836686 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171441 ms (missed cycles : 2).[0m ×2 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-04 03:21:45.083] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054095 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728017 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788492106.36993027 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293705 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788492107.55495787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 03:21:47.739] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125742 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101728 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829566 ms (missed cycles : 5).[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 4.798192 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798192 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579644 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579644 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000357 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000357 ms (missed cycles : 6).[0m ×2 + 3.12sINFOobjective_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 + 3.13sERRORobjective_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: 1788492117.89538026 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013787 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013787 ms (missed cycles : 5).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788492118.49457836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 03:21:58.810] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 03:21:58.810] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019589 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019589 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060411 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060411 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440109 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440109 ms (missed cycles : 5).[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 2.152157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152157 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912200 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912200 ms (missed cycles : 5).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179608 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179608 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217646 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217646 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788492128.41045165 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788492129.06738496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 03:22:09.241] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 03:22:09.241] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412428 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412428 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974791 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974791 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907547 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907547 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[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: ``}. ×3 + 2.35sERRORobjective_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: 1788492139.39772654 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[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: ``}. ×3 + 2.35sERRORobjective_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: 1788492139.39772654 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[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: ``}. ×3 + 2.35sERRORobjective_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: 1788492139.39772654 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004534 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[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: ``}. ×3 + 2.35sERRORobjective_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: 1788492139.39772654 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.27sERRORobjective_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: 1788492139.39772654 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.86sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.27sERRORobjective_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: 1788492139.39772654 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.86sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197673 ms (missed cycles : 5).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138114 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.27sERRORobjective_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: 1788492139.39772654 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.86sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788492140.03896880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788492140.10909891 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215213 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788492140.70621443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788492140.72836399 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832542 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788492141.33936882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-04 03:22:21.462] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814851 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152588 ms (missed cycles : 2).[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 4.235332 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235332 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 2.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788492151.48438525 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.27sINFOobjective_server_nodecaller: ×8 + 3.27sINFOobjective_server_nodetype: 0 ×8 + 3.27sINFOobjective_server_nodename: "" ×8 + 3.27sINFOobjective_server_nodeinstance_id: "" ×8 + 3.27sINFOobjective_server_node ×8 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.45sINFOobjective_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 + 4.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 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 4.235332 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235332 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560435 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723273 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-09-04 03:22:31.479] [info] Canceling active goal... ×2 + 2.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788492151.48438525 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489857 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.27sINFOobjective_server_nodecaller: ×8 + 3.27sINFOobjective_server_nodetype: 0 ×8 + 3.27sINFOobjective_server_nodename: "" ×8 + 3.27sINFOobjective_server_nodeinstance_id: "" ×8 + 3.27sINFOobjective_server_node ×8 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788492152.08793950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788492152.61807561 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788492153.21226192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.45sINFOobjective_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 + 4.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788492153.21464944 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788492153.81519485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788492153.81588459 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727409 ms (missed cycles : 5).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788492154.54102826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.7s | 37 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-03-18-00-132914-7d313a44f1a6-7300 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.84sINFOros2_control_node-1process started with pid [7348] ×2 + 0.84sINFOmove_group-9process started with pid [7389] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7390] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7391] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7392] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7393] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7394] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7395] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7396] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7397] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7398] ×2 + 0.84sINFOweb_bridge-19process started with pid [7399] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7473] ×2 + 0.84sINFOvideo_server-21process started with pid [7474] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7476] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7477] ×2 + 0.84sINFOros2-2process started with pid [7349] ×2 + 0.84sINFOros2-3process started with pid [7350] ×2 + 0.84sINFOros2-4process started with pid [7362] ×2 + 0.84sINFOros2-5process started with pid [7363] ×2 + 0.84sINFOros2-6process started with pid [7364] ×2 + 0.84sINFOros2-7process started with pid [7365] ×2 + 0.84sINFOros2-8process started with pid [7366] ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.180106 ms (missed cycles : 10). + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.180106 ms (missed cycles : 10).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF configuration loaded from /tmp/moveit-webrtc-baw5dbyk/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.61sINFOmove_group[2026-09-04 03:18:02.125] [moveit_pro_license] [info] ×2 + 1.61sINFOmove_group************************************************* ×4 + 1.61sINFOmove_group* MoveIt Pro License ×2 + 1.61sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.95sINFOwaypoint_manager_node[2026-09-04 03:18:02.464] [moveit_pro_license] [info] ×2 + 1.95sINFOwaypoint_manager_node************************************************* ×4 + 1.95sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.95sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.04sINFOmove_group ×4 + 2.04sINFOmove_group[92mYou can start planning now![0m ×2 + 2.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_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 + 2.09sINFOros2_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 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770475 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770475 ms (missed cycles : 2).[0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.25sINFOobjective_server_node[2026-09-04 03:18:03.761] [moveit_pro_license] [info] ×2 + 3.25sINFOobjective_server_node************************************************* ×4 + 3.25sINFOobjective_server_node* MoveIt Pro License ×2 + 3.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.73sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.73sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.13sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.13sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.13sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.13sWARNros2_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 + 4.13sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.13sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.13sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.14sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.14sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.14sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.14sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.14sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.14sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.14sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.24sWARNobjective_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 + 4.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 4.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 4.29sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.29sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.30sINFOforce_torque_sensor_broadcasterconfigure successful + 4.30sINFOros2_control_nodeconfigure successful[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.32sINFOcomponent_container_mt[2026-09-04 03:18:04.831] [moveit_pro_license] [info] ×2 + 4.32sINFOcomponent_container_mt************************************************* ×4 + 4.32sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.32sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.58sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 4.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 4.64sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.64sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.64sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.64sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.64sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.64sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.64sINFOros2-2process has finished cleanly [pid 7349] ×2 + 4.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.65sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.65sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.65sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.65sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.66sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.67sINFOros2_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 + 4.67sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.67sWARNros2_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 + 4.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.94sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 4.94sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 4.95sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.96sINFOros2-5process has finished cleanly [pid 7363] ×2 + 4.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440373 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440373 ms (missed cycles : 3).[0m ×2 + 4.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.34sINFOros2-3process has finished cleanly [pid 7350] ×2 + 5.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 5.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 5.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.49sINFOros2_control_node[2026-09-04 03:18:06.002] [info] Controller state will be published at 10 Hz. ×2 + 5.49sINFOros2_control_node[2026-09-04 03:18:06.003] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.74sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.74sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.74sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.77sINFOros2-7process has finished cleanly [pid 7365] ×2 + 5.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 5.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 5.85sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.85sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.85sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.85sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.88sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.88sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 5.88sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.21sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 6.21sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 6.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.23sINFOros2-6process has finished cleanly [pid 7364] ×2 + 6.24sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.24sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.24sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.24sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.24sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.24sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.25sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.29sINFOobjective_server_nodecaller: ×10 + 6.29sINFOobjective_server_nodetype: 0 ×10 + 6.29sINFOobjective_server_nodename: "" ×10 + 6.29sINFOobjective_server_nodeinstance_id: "" ×10 + 6.29sINFOobjective_server_node ×10 + 6.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 6.56sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.56sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.56sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.59sINFOros2-4process has finished cleanly [pid 7362] ×2 + 6.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 6.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 6.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.66sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.66sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.69sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 6.69sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.03sINFOros2-8process has finished cleanly [pid 7366] ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 8.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 8.20sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 9.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 372 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7362] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.47sINFOros2-8process has finished cleanly [pid 7366] ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.64sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.04sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 7.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.56sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 7.60sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 458 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.03sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.06sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.41sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[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 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.77sINFOros2-4process has finished cleanly [pid 7362] ×2 + 0.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.22sINFOros2-8process has finished cleanly [pid 7366] ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 2.38sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 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/2026-09-04-03-18-00-132914-7d313a44f1a6-7300 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.84sINFOros2_control_node-1process started with pid [7348] ×2 + 0.84sINFOmove_group-9process started with pid [7389] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7390] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7391] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7392] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7393] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7394] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7395] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7396] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7397] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7398] ×2 + 0.84sINFOweb_bridge-19process started with pid [7399] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7473] ×2 + 0.84sINFOvideo_server-21process started with pid [7474] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7476] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7477] ×2 + 0.84sINFOros2-2process started with pid [7349] ×2 + 0.84sINFOros2-3process started with pid [7350] ×2 + 0.84sINFOros2-4process started with pid [7362] ×2 + 0.84sINFOros2-5process started with pid [7363] ×2 + 0.84sINFOros2-6process started with pid [7364] ×2 + 0.84sINFOros2-7process started with pid [7365] ×2 + 0.84sINFOros2-8process started with pid [7366] ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.180106 ms (missed cycles : 10). + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.180106 ms (missed cycles : 10).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF configuration loaded from /tmp/moveit-webrtc-baw5dbyk/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/04 03:18:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.61sINFOmove_group[2026-09-04 03:18:02.125] [moveit_pro_license] [info] ×2 + 1.61sINFOmove_group************************************************* ×4 + 1.61sINFOmove_group* MoveIt Pro License ×2 + 1.61sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.95sINFOwaypoint_manager_node[2026-09-04 03:18:02.464] [moveit_pro_license] [info] ×2 + 1.95sINFOwaypoint_manager_node************************************************* ×4 + 1.95sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.95sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.04sINFOmove_group ×4 + 2.04sINFOmove_group[92mYou can start planning now![0m ×2 + 2.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_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 + 2.09sINFOros2_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 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770475 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770475 ms (missed cycles : 2).[0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.25sINFOobjective_server_node[2026-09-04 03:18:03.761] [moveit_pro_license] [info] ×2 + 3.25sINFOobjective_server_node************************************************* ×4 + 3.25sINFOobjective_server_node* MoveIt Pro License ×2 + 3.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7350] ×2 + 0.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.002] [info] Controller state will be published at 10 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.003] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.53sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.53sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.00sINFOobjective_server_nodecaller: ×14 + 1.00sINFOobjective_server_nodetype: 0 ×14 + 1.00sINFOobjective_server_nodename: "" ×14 + 1.00sINFOobjective_server_nodeinstance_id: "" ×14 + 1.00sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.30sINFOros2-4process has finished cleanly [pid 7362] ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7366] ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7350] ×2 + 0.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.002] [info] Controller state will be published at 10 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.003] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.53sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.53sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.00sINFOobjective_server_nodecaller: ×14 + 1.00sINFOobjective_server_nodetype: 0 ×14 + 1.00sINFOobjective_server_nodename: "" ×14 + 1.00sINFOobjective_server_nodeinstance_id: "" ×14 + 1.00sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.30sINFOros2-4process has finished cleanly [pid 7362] ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7366] ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7350] ×2 + 0.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.002] [info] Controller state will be published at 10 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 03:18:06.003] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.53sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.53sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.00sINFOobjective_server_nodecaller: ×14 + 1.00sINFOobjective_server_nodetype: 0 ×14 + 1.00sINFOobjective_server_nodename: "" ×14 + 1.00sINFOobjective_server_nodeinstance_id: "" ×14 + 1.00sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.30sINFOros2-4process has finished cleanly [pid 7362] ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 1.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7366] ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 458 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.03sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_node[2026-09-04 03:18:06.364] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_node[2026-09-04 03:18:06.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.06sINFOros2_control_node[2026-09-04 03:18:06.388] [info] Controller state will be published at 50 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-04 03:18:06.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.41sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[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 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491886.85714912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491886.86750317 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.77sINFOros2-4process has finished cleanly [pid 7362] ×2 + 0.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.22sINFOros2-8process has finished cleanly [pid 7366] ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 2.38sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 356 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7362] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_df_xgscr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7s67q8uo --params-file /tmp/launch_params_dpp2tk81 [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 03:18:07.199] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 03:18:07.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036496 ms (missed cycles : 2).[0m ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788491887.45330048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-8process has finished cleanly [pid 7366] ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.64sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.04sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689469 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689469 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000187 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788491888.56346250 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788491889.18891120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788491889.24914908 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303493 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491889.90571094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491889.91582179 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491890.50433850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491890.65486884 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985930 ms (missed cycles : 3).[0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491891.34084272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491891.39096475 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752605 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788491891.98649406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.7024e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 03:18:12.113] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745499 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975141 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 03:18:14.630] [info] Accepted new action goal ×2 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||